Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller

Adam Spiers, Guido Herrmann, Chris Melhuish, Tony Pipe, Alexander Lenz

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


    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.
    Original languageEnglish
    Title of host publicationAdvances in Robotics
    Subtitle of host publicationFIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009 Proceedings
    EditorsJong-Hwan Kim, Shuzhi Sam Ge, Prahlad Vadakkepat, Norbert Jesse, Abdullah Al Manum, Sadasivan Puthusserypady K, Ulrich Ruckert, Joaquin Sitte, Ulf Witkowski, Ryohei Nakatsu, Thomas Braunl, Jacky Baltes, John Anderson, Ching-Chang Wong, Igor Verner, David Ahlgren
    Place of PublicationBerlin, Heidelberg, New York
    PublisherSpringer Nature
    Number of pages9
    ISBN (Print)9783642039829
    Publication statusPublished - 2009

    Publication series

    NameLecture Notes in Computer Science


    • Robotics
    • Sliding Mode
    • Operational Space
    • Human Motion
    • Parametric Uncertainty
    • Friction


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