Paolo Tommasino's Books

Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

By: Paolo Tommasino

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Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

By: Paolo Tommasino

This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a “Task-space Separation Principle,” a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.

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Page Count

115

Publisher

Springer

Published Date

ISBN 10

9811303533

ISBN 13

9789811303531

Stories from the City of God

Sketches and Chronicles of Rome

By: Pier Paolo Pasolini

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Stories from the City of God

Sketches and Chronicles of Rome

By: Pier Paolo Pasolini

Now in paperback, a collection of the legendary filmmaker's short fiction and nonfiction from 1950 to 1966, in which we see the machinations of the creative mind in post-World War II Rome. In a portrait of the city at once poignant and intimate, we find artistic witness to the customs, dialect, squalor, and beauty of the ancient imperial capital that has succumbed to modern warfare, marginalization, and mass culture. The sketches portray the impoverished masses that Pasolini calls "the sub-proletariat," those who live under Third World conditions and for whom simple pleasures, such as a blue sweater in a storefront window, are completely out of reach. Pasolini's art develops throughout the works collected here, from his early lyricism to tragicomic outlines for screenplays, and finally to the maturation of his Neo-realism in eight chronicles on the shantytowns of Rome. The pieces in this collection were all published in Italian journals and newspapers, and then later edited by Walter Siti in the original Italian edition.

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Page Count

273

Publisher

Other Press, LLC

Published Date

ISBN 10

1590519973

ISBN 13

9781590519974

Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

By: Paolo Tommasino

Write a review Read reviews Take a Quiz Solve Book Puzzle

Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

By: Paolo Tommasino

Average ratings

N/A

Write a review

Solve jigsaw puzzle

Age

Page Count

115

Publisher

Springer

Published Date

ISBN 10

9811303533

ISBN 13

9789811303531

Book's by Paolo Tommasino

Task-space Separation Principle

Task-space Separation Principle

Stories from the City of God

Stories from the City of God

Task-space Separation Principle

Task-space Separation Principle

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