Task-space Separation Principle (eBook, PDF)
Paolo Tommasino
eBook, PDF

Task-space Separation Principle (eBook, PDF)

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

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This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Principle," a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands ...

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