Geometric and Numerical Foundations of Movements

Description

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. 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