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 contribution | Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller |
|---|---|
| Original language | English |
| Title of host publication | International Conference on Social Robotics / FIRA Robotworld Congress |
| Publisher | Springer Berlin Heidelberg |
| Number of pages | 0 |
| Publication status | Published - 2009 |