Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller

A Spiers, G Herrmann, CR Melhuish, AG Pipe, A Lenz

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

9 Citations (Scopus)

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 simplied 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.
Translated title of the contributionRobotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller
Original languageEnglish
Title of host publicationInternational Conference on Social Robotics / FIRA Robotworld Congress
PublisherSpringer Berlin Heidelberg
Number of pages0
Publication statusPublished - 2009

Bibliographical note

Conference Organiser: Federation of International RoboSoccer Association

Fingerprint Dive into the research topics of 'Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller'. Together they form a unique fingerprint.

Cite this