Herrmann, Guido
Biologically Inspired Control of Humanoid Robot Arms
1. Introduction
Adam Spiers, Said Ghani Khan, Guido Herrmann
Part I. Background on Humanoid Robots and Human Motion
2. Humanoid Robots and Control
Adam Spiers, Said Ghani Khan, Guido Herrmann
3. Human Motion
Adam Spiers, Said Ghani Khan, Guido Herrmann
Part II. Robot Control: Implementation
4. Basic Operational Space Controller
Adam Spiers, Said Ghani Khan, Guido Herrmann
5. Sliding Mode Task Controller Modification
Adam Spiers, Said Ghani Khan, Guido Herrmann
6. Implementing ‘Discomfort’ for Smooth Joint Limits
Adam Spiers, Said Ghani Khan, Guido Herrmann
7. Sliding Mode Optimal Controller
Adam Spiers, Said Ghani Khan, Guido Herrmann
8. Adaptive Compliance Control with Anti-windup Compensation and Posture Control
Adam Spiers, Said Ghani Khan, Guido Herrmann
Part III. Human Motion Recording for Task Motion Modelling and Robot Arm Control
9. Human Motion Recording and Analysis
Adam Spiers, Said Ghani Khan, Guido Herrmann
10. Neural Network Motion Learning by Observation for Task Modelling and Control
Adam Spiers, Said Ghani Khan, Guido Herrmann
Avainsanat: Engineering, Robotics and Automation, Artificial Intelligence (incl. Robotics), Control
- Tekijä(t)
- Herrmann, Guido
- Khan, Said Ghani
- Spiers, Adam
- Julkaisija
- Springer
- Julkaisuvuosi
- 2016
- Kieli
- en
- Painos
- 1
- Sivumäärä
- 19 sivua
- Kategoria
- Tekniikka, energia, liikenne
- Tiedostomuoto
- E-kirja
- eISBN (PDF)
- 9783319301600
- Painetun ISBN
- 978-3-319-30158-7