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Geometric and Numerical Foundations of Movements

  • Book
  • © 2017

Overview

Editors:
  1. Jean-Paul Laumond

    1. LAAS-CNRS , Toulouse, France

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    You can also search for this editor in PubMed   Google Scholar

  2. Nicolas Mansard

    1. LAAS-CNRS , Toulouse, France

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    You can also search for this editor in PubMed   Google Scholar

  3. Jean-Bernard Lasserre

    1. LAAS-CNRS , Toulouse, France

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  • Promotes a multidisciplinary research on movement analysis for and by roboticists, control theorists, neuroscientists, and mathematicians
  • Lays the foundations for a mutual understanding that is essential for synergetic development in motion research
  • Provides an opportunity to promote and discuss applications to robotics and control in general of new recent optimization techniques based on results from real algebraic geometry
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 117)

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Table of contents (16 chapters)

  1. Front Matter

    Pages i-x
    Download chapter PDF

  2. Robot Motion Planning and Control: Is It More than a Technological Problem?

    • Mehdi Benallegue, Jean-Paul Laumond , Nicolas Mansard
    Pages 1-10

  3. Geometry, Action and Movement

    1. Front Matter

      Pages 11-11
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    2. Several Geometries for Movements Generations

      • Daniel Bennequin, Alain Berthoz
      Pages 13-42

    3. On the Duration of Human Movement: From Self-paced to Slow/Fast Reaches up to Fitts’s Law

      • Frédéric Jean, Bastien Berret
      Pages 43-65

    4. Geometric and Numerical Aspects of Redundancy

      • Pierre-Brice Wieber, Adrien Escande, Dimitar Dimitrov, Alexander Sherikov
      Pages 67-85

  4. Numerical Analyzis and Optimization

    1. Front Matter

      Pages 87-87
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    2. Some Recent Directions in Algebraic Methods for Optimization and Lyapunov Analysis

      • Amir Ali Ahmadi, Pablo A. Parrilo
      Pages 89-112

    3. Positivity Certificates in Optimal Control

      • Edouard Pauwels, Didier Henrion, Jean-Bernard Lasserre
      Pages 113-131

    4. The Interplay Between Big Data and Sparsity in Systems Identification

      • O. Camps, M. Sznaier
      Pages 133-159

  5. Foundation of Human Movement

    1. Front Matter

      Pages 161-161
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    2. Inverse Optimal Control as a Tool to Understand Human Movement

      • Katja Mombaur, Debora Clever
      Pages 163-186

    3. Versatile Interaction Control and Haptic Identification in Humans and Robots

      • Yanan Li, Nathanael Jarrassé, Etienne Burdet
      Pages 187-206

    4. The Variational Principles of Action

      • Karl Friston
      Pages 207-235

    5. Modeling of Coordinated Human Body Motion by Learning of Structured Dynamic Representations

      • Albert Mukovskiy, Nick Taubert, Dominik Endres, Christian Vassallo, Maximilien Naveau, Olivier Stasse et al.
      Pages 237-267

    6. Physical Interaction via Dynamic Primitives

      • Neville Hogan
      Pages 269-299

    7. Human Control of Interactions with Objects – Variability, Stability and Predictability

      • Dagmar Sternad
      Pages 301-335
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Keywords

About this book

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.




Editors and Affiliations

  • LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre

Bibliographic Information

  • Book Title: Geometric and Numerical Foundations of Movements

  • Editors: Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-319-51547-2

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing AG 2017

  • Hardcover ISBN: 978-3-319-51546-5Published: 10 May 2017

  • Softcover ISBN: 978-3-319-84680-4Published: 21 July 2018

  • eBook ISBN: 978-3-319-51547-2Published: 02 May 2017

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: X, 419

  • Number of Illustrations: 106 b/w illustrations

  • Topics: Robotics and Automation, Artificial Intelligence, Geometry, Neurosciences, Numeric Computing

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