Titlebook: Biologically Inspired Control of Humanoid Robot Arms; Robust and Adaptive Adam Spiers,Said Ghani Khan,Guido Herrmann Book 2016 Springer In

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Basic Operational Space ControllerUnder particular scrutiny is the posture (position of redundant DOF) of humans when performing overhead reaching actions. By using ‘effort’ optimisation criteria in the posture scheme of an operational space controller, it is possible to reproduce the natural folding and unfolding action observed in

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