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Task-space Separation Principle

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

  • Book
  • © 2019

Overview

Authors:
  1. Paolo Tommasino

    1. Laboratory of Neuromotor Physiology, IRCCS, Fondazione Santa Lucia, Rome, Italy

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  • 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)

  1. Front Matter

    Pages i-xvii
    Download chapter PDF

  2. Introduction

    • Paolo Tommasino
    Pages 1-5

  3. Background: Posture, Movement and Redundancy

    • Paolo Tommasino
    Pages 7-22

  4. Task-space Separation Principle: A Force Field Approach to Posture and Movement Planning for Redundant Manipulators

    • Paolo Tommasino
    Pages 23-56

  6. Movement

    1. Front Matter

      Pages 83-83
      Download chapter PDF

    2. Effects of Mechanical Impedance (Joint Stiffness and Damping) on Wrist Movement

      • Paolo Tommasino
      Pages 85-96

    3. Conclusion and Outlook

      • Paolo Tommasino
      Pages 97-105
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Keywords

About this book

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 traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.


Authors and Affiliations

  • Laboratory of Neuromotor Physiology, IRCCS, Fondazione Santa Lucia, Rome, Italy

    Paolo Tommasino

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