Dynamic control for the task/posture coordination of humanoids

The research developed in this book deals with the general problem of dynamic control of ''task-oriented'' under-actuated and redundant systems considering more specifically the humanoid robotic systems. This research brings contributions to the problem of motor activities synthesis for constrained systems by their intrinsic capacities and by particular physical interactions with the environment. More specific issues that were addressed relate to: 1) the dynamic control of humanoid systems for carrying out basic activities requiring task/posture coordination perturbed by physical interactions, 2) the building of sequences of continuous dynamic activities based on a repertoire of motor coordination, 3) the planning and the adaptation of activities in the aim of a supervised automatic sequencing for complex non-deterministic tasks.

Autorentext

Joseph Salini first studied in Lycée Laetitia Bonaparte in Ajaccio (France). He graduated from Ecole Nationale Supérieure d'Arts et Métiers (Aix-en-Provence & Paris, France) with a mechanical engineering degree, and earned a master degree of computer science and a PhD thesis in mechanics/robotics from the Pierre and Marie Curie University (Paris).