Geometric and Numerical Foundations of Movements

✍ Scribed by Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre (eds.)

• Publisher: Springer International Publishing
• Year: 2017
• Tongue: English
• Leaves: 417
• Series: Springer Tracts in Advanced Robotics 117
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages i-x
Robot Motion Planning and Control: Is It More than a Technological Problem?....Pages 1-10
Front Matter....Pages 11-11
Several Geometries for Movements Generations....Pages 13-42
On the Duration of Human Movement: From Self-paced to Slow/Fast Reaches up to Fitts’s Law....Pages 43-65
Geometric and Numerical Aspects of Redundancy....Pages 67-85
Front Matter....Pages 87-87
Some Recent Directions in Algebraic Methods for Optimization and Lyapunov Analysis....Pages 89-112
Positivity Certificates in Optimal Control....Pages 113-131
The Interplay Between Big Data and Sparsity in Systems Identification....Pages 133-159
Front Matter....Pages 161-161
Inverse Optimal Control as a Tool to Understand Human Movement....Pages 163-186
Versatile Interaction Control and Haptic Identification in Humans and Robots....Pages 187-206
The Variational Principles of Action....Pages 207-235
Modeling of Coordinated Human Body Motion by Learning of Structured Dynamic Representations....Pages 237-267
Physical Interaction via Dynamic Primitives....Pages 269-299
Human Control of Interactions with Objects – Variability, Stability and Predictability....Pages 301-335
Front Matter....Pages 337-337
Momentum-Centered Control of Contact Interactions....Pages 339-359
A Tutorial on Newton Methods for Constrained Trajectory Optimization and Relations to SLAM, Gaussian Process Smoothing, Optimal Control, and Probabilistic Inference....Pages 361-392
Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch....Pages 393-419

✦ Subjects

Robotics and Automation;Artificial Intelligence (incl. Robotics);Geometry;Neurosciences;Numeric Computing