Geometric and Numerical Foundations of Movements [Electronic resource] / ed.: Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre. - Berlin : Springer International Publishing Switzerland, . - 417 p. - (Springer Tracts in Advanced Robotics ; vol. 117). - Режим доступа: https://link.springer.com/book/10.1007/978-3-319-51547-2 (SpringerLink). - ISBN 978-3-319-51546-5. - ISBN 978-3-319-51547-2

Переклад назви: Геометричні та числові основи рухів
Зміст:
Robot motion planning and control: Is it more than?
Several geometries for movements generations
On the duration of human movement: from self-paced to slow / fast reaches up to Fitts’s law
Geometric and numerical aspects of redundancy
Some recent directions in algebraic methods for optimization and lyapunov analysis
Positivity certificates in optimal control
The interplay between big data and sparsity in systems identification
Inverse optimal control as a tool to understand human movement
Versatile interaction control and haptic identification in humans and robots
The variational principles of action
Modeling of coordinated human body motion by learning of structured dynamic representations
Physical interaction via dynamic primitives
Human control of interactions with objects – variability, stability and predictability
Momentum-centered control of contact interactions
A Tutorial on newton methods for constrained trajectory optimization and relations to SLAM, gaussian process smoothing, optimal control, and probabilistic inference
Optimal control of variable stiffness policies: dealing with switching dynamics and model mismatch
Рубрики:
Control, Robotics, Automation
Artificial Intelligence
Geometry
Neuroscience
Numerical Analysis

Ключові слова: закон фиттса -- алгебраические методы оптимизации -- ляпунов анализ -- динамическое представление -- контроль импульса -- ограниченная траектория -- оптимизация и отношение к slam -- гауссовский процесс -- оптимальный контроль -- переменная жесткость -- динамика переключения -- несоответствие модели -- закон фіттса -- алгебраїчні методи оптимізації -- аналіз ляпунова -- динамічне уявлення -- контроль імпульсу -- обмежена траєкторія -- оптимізація та відносини до slam -- гаусівський процес -- оптимальний контроль -- змінна жорсткість -- динаміка перемикання -- невідповідність моделі -- robotics -- optimal control -- geometric control theory -- algebraic geometry -- optimization -- neuroscience --
Анотація:
This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop “ Geometric and Numerical Foundations of Movements ” held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.
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