Overview
- Addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem
- Proposes the “Task-space Separation Principle” and a general computational framework for posture and movement planning for redundant manipulators
- Provides theoretical formulation and experimental scenarios for nonlinear space of 3D rotations, which are essential for wrist motions
Part of the book series: Springer Theses (Springer Theses)
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Table of contents (7 chapters)
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Movement
Authors and Affiliations
Bibliographic Information
Book Title: Task-space Separation Principle
Book Subtitle: From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators
Authors: Paolo Tommasino
Series Title: Springer Theses
DOI: https://doi.org/10.1007/978-981-13-0353-1
Publisher: Springer Singapore
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Singapore Pte Ltd. 2019
Hardcover ISBN: 978-981-13-0352-4Published: 06 June 2018
Softcover ISBN: 978-981-13-4393-3Published: 23 December 2018
eBook ISBN: 978-981-13-0353-1Published: 26 May 2018
Series ISSN: 2190-5053
Series E-ISSN: 2190-5061
Edition Number: 1
Number of Pages: XVII, 105
Number of Illustrations: 41 b/w illustrations, 7 illustrations in colour
Topics: Robotics and Automation, Vibration, Dynamical Systems, Control, Biological and Medical Physics, Biophysics