Implementing 'Discomfort' in Operational Space: Practical Application

A Spiers, G Herrmann, CR Melhuish

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)


The Operational Space formulation has been applied to a practical robot system in order to generate realistic human reaching motion. In order to make the controller suitable for real world application we have improved the performance of the ‘Task controller’ using a Sliding Mode element and implemented joint limits as part of the null-space ‘effort’. In conclusion, a robot controller based on the operational space formulation has successfully produced human motion in simulation by use of decoupled task-level controllers and minimal effort posture control. We have modified the operational space formulation to improve the practical application by inclusion of joint limits as a function of effort, this is analogous to the discomfort felt by humans when approaching joint limits.
Translated title of the contributionImplementing 'Discomfort' in Operational Space: Practical Application
Original languageEnglish
Title of host publication10th Anniversary of TAROS - Towards Autonomous Robotic Systems, University of Ulster, Londonderry, United Kingdom
Publication statusPublished - 2009

Bibliographical note

Name and Venue of Event: University of Ulster, Londonderry, UK
Conference Organiser: Computer Science Research Institute , University of Ulster

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