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 |
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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 |