This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Explore selections from best-selling author Adam Hamilton’s insightful writing on the topics that shape and challenge our faith. With excerpts from Why? Making Sense of God’s Will, Enough: Discovering Joy through Simplicity and Generosity, and Forgiveness: Finding Peace Through Letting Go, these short excerpts will bring hope and inspiration.
Adam speaks The story of Adam and Eve is known throughout the world. It is a tale passed down through the beginning of humanity that is believed by Christians, Jews and Muslims alike. There isn't much to it other than the creation of man and woman and the loss of paradise attributed to their disobedience in biting an apple from a forbidden tree. This book gives a detailed portrayal of the familiar story from the perspective of Adam. It tells of the relationship Adam had with God before and after Eve was created and before and after the fall as well. As a consequence to Adam's sin he is doomed to live many lives to witness the effect it has on mankind throughout history to the present day. Adam narrates significant events of history such as the fall of Satan, the first murder, the great flood and the origins of the Jewish, Christian and Muslim nations. Along the way he explains mysteries like creation, evolution, giants, dinosaurs, reincarnation and the spiritual laws that control the universe. As Adam tells his story he produces a scathing diatribe directed at organized religion with the passion only the one and only original man can muster. This story is thought provoking and entertaining and should appeal to fans of fiction and non fiction, believers, non believers and lovers of philosophy.
There are 7 Kingdoms that are inside the Telestial Kingdom. Adam of the Old Testament breaks this sacred information in the last days. This translation was orginally written in Hebrew. Ben Adam translates it to perfect English. The seven kingdoms are from top to bottom. When one arrives after the 1000 year millenium and after Christ's final judgement, if assigned to this kingdom you start at what Adam calls "Telestial 0". There are 3 kingdoms below Telestial zero and 3 above. Adam says they surpass all understanding and comprehension but gives us the first real indepth look of each kingdom which are all found here: sites.google.com/view/lawsofthetelestialkingdom/ The 3 Kingdom's above are "beyond imagination" but explained in detail The 3 Kingdom's below are "from similarities to earth life with a real purge to take place yearly, however since the body is resurrected, one cannot die". -Adam, Prophet of the Old Testament and first born with Eve
SON OF MAN I'm known as: Michael - The Chosen One - Ancient of Days - Elect One - Adam As foretold by the scriptures who liveth amongst you now for these last days in this sacred Book of Adam 45 And so it is written, The first man Adam was made a living soul; the last cAdam was made a dquickening spirit 1 Corinthians 15:45
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