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 contribution||Robotic Implementation of Realistic Reaching Motion Using a Sliding Mode/Operational Space Controller|
|Title of host publication||Advances in Robotics - FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009. Proceedings|
|Editors||Shuzhi Sam Ge, Ulf Witkowski, D. H. Kim, Jong-Hwan Kim, Ulrich Rückert, David Sandberg, Mattias Wahde, C. H. Cho, John-John Cabibihan, Yaozhang Pan|
|Publisher||Springer Berlin Heidelberg|
|Pages||230 - 238|
|Number of pages||9|
|Publication status||Published - 2009|