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

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

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 proceeding › Conference 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 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

Bibliographical note

Conference Organiser: Federation of International RoboSoccer Association

Access to Document

http://www.fira2009.org/

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title = "Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller",

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.",

author = "A Spiers and G Herrmann and CR Melhuish and AG Pipe and A Lenz",

note = "Conference Organiser: Federation of International RoboSoccer Association",

year = "2009",

language = "English",

booktitle = "International Conference on Social Robotics / FIRA Robotworld Congress",

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Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller. / Spiers, A; Herrmann, G; Melhuish, CR; Pipe, AG; Lenz, A.

International Conference on Social Robotics / FIRA Robotworld Congress. Springer Berlin Heidelberg, 2009.

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

TY - GEN

T1 - Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller

AU - Spiers, A

AU - Herrmann, G

AU - Melhuish, CR

AU - Pipe, AG

AU - Lenz, A

N1 - Conference Organiser: Federation of International RoboSoccer Association

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

M3 - Conference Contribution (Conference Proceeding)

BT - International Conference on Social Robotics / FIRA Robotworld Congress

PB - Springer Berlin Heidelberg

ER -