Biologically Inspired Control of Humanoid Robot Arms Robust and Adap
This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method
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ogically Inspired Control of Humanoid Robot Arms Robust and Adaptive Approaches
Biologically Inspired Control of Humanoid Robot Arms
Adam Spiers • Said Ghani Khan • Guido Herrmann
Biologically Inspired Control of Humanoid Robot Arms Robust and Adaptive Approaches
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Said Ghani Khan Department of Mechanical Engineering College of Engineering Yanbu Taibah University Al-Madinah Yanbu, Saudi Arabia
Adam Spiers School of Engineering Yale University New Haven Connecticut, USA Guido Herrmann Department of Mechanical Engineering University of Bristol Bristol, UK
MATLAB and Simulink are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, USA, http://www.mathworks.com. ISBN 978-3-319-30158-7 DOI 10.1007/978-3-319-30160-0
ISBN 978-3-319-30160-0 (eBook)
Library of Congress Control Number: 2016937646 © Springer International Publishing Switzerland 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG Switzerland
Adam: To my parents, Tiki and Vince, for encouraging me to pursue a career in my childhood passion of robotics Said: To my parents, family and teachers Guido: To my family . . . Malgranda paˆso en la paca progreso de la homaro
Preface
The recent trend of humanoid robot development calls for an equivalent advancement of appropriate motion control schemes, as opposed to the kinematic motion control methods inherited from ‘dangerous’ industrial manipulators. This is an important prerequisite for roboticists working in the areas of human–robot interaction and social robotics, where robots are physically close to people. It has been proposed that an appropriate scheme would emulate the typical motions of a person, to permit both an increase in the confidence of an interacting human and also allowing the robot to exploit the configuration of its body. In addition, interaction of humans and r
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