@inproceedings{29225d0c85e54a9f9ba095219d4b6a8d,
title = "Robotic Implementation of Realistic Reaching Motion using a Sliding Mode/Operational Space Controller",
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 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.",
keywords = "Robotics, Sliding Mode, Operational Space, Human Motion, Parametric Uncertainty, Friction",
author = "Adam Spiers and Guido Herrmann and Chris Melhuish and Tony Pipe and Alexander Lenz",
note = "Conference Organiser: Federation of International RoboSoccer Association",
year = "2009",
doi = "10.1007/978-3-642-03983-6",
language = "English",
isbn = "9783642039829",
series = "Lecture Notes in Computer Science",
publisher = "Springer Nature",
number = "5744",
pages = "230--238",
editor = "Jong-Hwan Kim and Ge, {Shuzhi Sam} and Prahlad Vadakkepat and Norbert Jesse and Manum, {Abdullah Al} and {Puthusserypady K}, Sadasivan and Ulrich Ruckert and Joaquin Sitte and Ulf Witkowski and Ryohei Nakatsu and Thomas Braunl and Jacky Baltes and John Anderson and Ching-Chang Wong and Igor Verner and David Ahlgren",
booktitle = "Advances in Robotics",
address = "United States",
}