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710	2		_aSpringerLink (Online service) _9106996
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008			180526s2019 si a o |||| 0|eng d
020			_a9789811303531
024	7		_a10.1007/978-981-13-0353-1 _2doi
040			_bspa _aES-MaUEC _cES-MaUEC
050		4	_aQA841 _b2019 EB
100	1		_aTommasino, Paolo _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9671299
245	1	0	_aTask-space Separation Principle : _bFrom Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators _cby Paolo Tommasino.
264		1	_aCham _bSpringer International Publishing _c2019
300			_a1 recurso en línea (XVII, 105 páginas) _b48 ilustraciones,7 ilustraciones a color
347			_atext file _bPDF
490	0		_aSpringer Theses Recognizing Outstanding Ph.D. Research _x2190-5053
490	0		_aIntelligent Technologies and Robotics (Springer-42732)
505	0		_aIntroduction -- Background: Posture, Movement & Redundancy -- Task-Space Separation Principle: A Force Field Approach to Posture and Movement Planning for Redundant Manipulators -- Capturing Human-Like Postural Kinematic Synergies Via Non-Linear Inverse Optimization -- Assessment of Postural Muscular Synergies -- Effects of Mechanical Impedance (Joint Stiffness And Damping) on Wrist Movement -- Conclusion and Outlook.
520	3		_aThis book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Principle," a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.
650		7	_aCinemática _2embne _9138898
776	0	8	_iPrinted edition: _z9789811303524
776	0	8	_iPrinted edition: _z9789811303548
776	0	8	_iPrinted edition: _z9789811343933
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-981-13-0353-1 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
988			_aPrimersemestre_2019_Robotics
998			_aSI _a_alco _a_vill _b11/2019 _cm _dz _ea _feng _ggw _h0