Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches
Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches By Adam Spiers, Said Ghani Khan, Guido Herrmann
2016 | 276 Pages | ISBN: 3319301586 | PDF | 11 MB
2016 | 276 Pages | ISBN: 3319301586 | PDF | 11 MB
This 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.