000			05190nam a22005655i 4500
001			978-3-319-30160-0
003			DE-He213
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008			160519s2016 sz | s |||| 0|eng d
020			_a9783319301600 _9978-3-319-30160-0
024	7		_a10.1007/978-3-319-30160-0 _2doi
050		4	_aTJ212-225
050		4	_aTJ210.2-211.495
072		7	_aTJFM _2bicssc
072		7	_aTEC037000 _2bisacsh
072		7	_aTJFM _2thema
082	0	4	_a629.8 _223
100	1		_aSpiers, Adam. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _957160
245	1	0	_aBiologically Inspired Control of Humanoid Robot Arms _h[electronic resource] : _bRobust and Adaptive Approaches / _cby Adam Spiers, Said Ghani Khan, Guido Herrmann.
250			_a1st ed. 2016.
264		1	_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2016.
300			_aXIX, 276 p. 145 illus., 128 illus. in color. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
505	0		_aIntroduction -- Part I Background on Humanoid Robots and Human Motion -- Humanoid Robots and Control -- Human Motion -- Part II Robot Control: Implementation -- Basic Operational Space Controller -- Sliding-Mode Task Controller Modification -- Implementing “Discomfort” for Smooth Joint Limits -- Sliding-Mode Optimal Controller -- Adaptive Compliance Control -- Part III Human Motion Recording for Task Motion Modelling and Robot Arm Control -- Human Motion Recording and Analysis -- Neural Network Motion Learning by Observation for Task Modelling and Control -- Appendices: Kinematics - Introduction -- Inverse Kinematics for BERUL2 -- Theoretical Summary of Adaptive Compliant Controller.
520			_aThis book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
650		0	_aControl engineering. _931970
650		0	_aRobotics. _92393
650		0	_aAutomation. _92392
650		0	_aArtificial intelligence. _93407
650	1	4	_aControl, Robotics, Automation. _931971
650	2	4	_aArtificial Intelligence. _93407
650	2	4	_aControl and Systems Theory. _931972
700	1		_aKhan, Said Ghani. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _957161
700	1		_aHerrmann, Guido. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _957162
710	2		_aSpringerLink (Online service) _957163
773	0		_tSpringer Nature eBook
776	0	8	_iPrinted edition: _z9783319301587
776	0	8	_iPrinted edition: _z9783319301594
776	0	8	_iPrinted edition: _z9783319807355
856	4	0	_uhttps://doi.org/10.1007/978-3-319-30160-0
912			_aZDB-2-ENG
912			_aZDB-2-SXE
942			_cEBK
999			_c79885 _d79885