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 proceedingChapter in a book

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 simplified 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 publicationAdvances in Robotics - FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009. Proceedings
EditorsShuzhi Sam Ge, Ulf Witkowski, D. H. Kim, Jong-Hwan Kim, Ulrich Rückert, David Sandberg, Mattias Wahde, C. H. Cho, John-John Cabibihan, Yaozhang Pan
PublisherSpringer Berlin Heidelberg
Pages230 - 238
Number of pages9
ISBN (Print)9783642039829
Publication statusPublished - 2009

Bibliographical note

Other identifier: 10.1007/978-3-642-03983-6

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