Name
Title | ||
|---|---|---|
Robotic Implementation of Realistic Reaching Motion Using a Sliding Mode/Operational Space Controller |
Abstract | ||
|---|---|---|
It has been shown that a task-level controller with minimal-effort posture control produces human-like motion in simulation. This control approach is based on the dynamic model of a human skeletal system superimposed with realistic muscle like actuators whose effort is minimised. In practical application, there is often a degree of error between the dynamic model of a system used for controller derivation and the actual dynamics of the system. We present a practical application of the task-level control framework with simplified posture control in order to produce life-like and compliant reaching motions for a redundant task. The addition of a sliding mode controller improves performance of the physical robot by compensating for unknown parametric and dynamic disturbances without compromising the human-like posture. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/978-3-642-03983-6_27 | FIRA RoboWorld Congress |
Keywords | Field | DocType |
Robotics,Sliding Mode,Operational Space,Human Motion,Parametric Uncertainty,Friction | Control theory,Control theory,Human motion,Control engineering,Parametric statistics,Artificial intelligence,Engineering,Robot,Robotics,Sliding mode control,Actuator | Conference |
Volume | ISSN | Citations |
5744 | 0302-9743 | 7 |
PageRank | References | Authors |
0.68 | 5 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adam Spiers | 1 | 7 | 0.68 |
| Guido Herrmann | 2 | 141 | 13.72 |
| Chris Melhuish | 3 | 747 | 87.61 |
| Tony Pipe | 4 | 171 | 24.02 |
| Alexander Lenz | 5 | 75 | 6.52 |