Advanced Robotics: 1989: Proceedings of the 4th International Conference on Advanced Robotics Columbus, Ohio, June 13–15, 1989

Front Matter....Pages I-IX
On a New Torque Sensor for Compliant Grasp by Robot Fingers with a Tendon Actuation System....Pages 1-14
A Learning Mechanism of Control Parameters for the Variable Structure Fuzzy Logic Controller....Pages 15-24
On the Inverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds....Pages 25-34
Symbolic Equation Generation for Manipulators....Pages 35-61
An Approach to Manipulator Kinematic Modeling....Pages 62-72
Fundamental Studies of Collision Avoidance Problems Between a Robot and a Moving Obstacle. Part 1: Heuristic Collision Avoidance Techniques and Fundamental Experiments with a Real Robot....Pages 73-97
Model and Sensor Based Precise Navigation by an Autonomous Mobile Robot....Pages 98-109
Reactive Processes for Mobile Robot Control....Pages 110-125
Powered Wheelchair Equipped with Voice Control and Automatic Locomotion....Pages 126-137
Nonlinear Decoupling Control Control of Flexible Robots....Pages 138-145
Application and Comparison of On-Line Identification Methods for Flexible Manipulator Control....Pages 146-158
Trajectory Shaping for Flexible Manipulators: A Comparative Study....Pages 159-174
An Algorithm for Efficient Computation of Dynamics of Robotic Manipulators....Pages 175-188
Calculation of the Minimum Inertial Parameters of Tree Structure Robots....Pages 189-201
Parallel Algorithms and Architectures for Manipulator Inverse Dynamics....Pages 202-233
Shape Memory Alloy Actuators for Robotic End-Effectors....Pages 234-243
An Artificial Muscle Actuator for Robots....Pages 244-258
High Precision Mark Position Sensing Device R-HPSD Suitable for 3-D Position Determination in Robotics....Pages 259-268
The Ultrasonic Inspection Robot System....Pages 269-277
An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations....Pages 278-298
Realization of Dynamic Biped Walking Stabilized with Trunk Motion Under Known External Force....Pages 299-310
Power System of a Multi-Legged Walking Vehicle....Pages 311-333
On the Stability Properties of 2N-Legged Wave Gaits....Pages 334-348
Depth Perception for Robots: Structural Stereo from Extended Laplacian-of-Gaussian Features....Pages 349-359
Location of the Mobile Robot CENTAURE in a Modelled Environment with PYRAMIDE....Pages 360-369
An Auto-Calibration System for Vision-Servoed Robots....Pages 370-378
Visual Servoing of a Robot Assembly Task....Pages 379-384
Computing Moveability Areas of a Robot Among Obstacles Using Octrees....Pages 385-396
Determination of the Space Occupied by Moving Links of Manipulators and Linkages....Pages 397-418
Collision-Free Path Planning for a Reconfigurable Robot....Pages 419-439
Characterizing Repetition in Workcell Applications and the Implications for Sequence Optimization....Pages 440-454
Analysis and Design of a Six Axis Truss Type of Force Sensor....Pages 455-464
The Interaction of Robots with Passive Environments: Application to Force Feedback Control....Pages 465-474
The Dynamic Model of a Three Degree of Freedom Parallel Robotic Shoulder Module....Pages 475-487
Kinematics of Redundantly Actuated Closed Kinematic Chains....Pages 488-512
Identifying the Kinematics of Non-Redundant Serial Chain Manipulators by a Closed-loop Approach....Pages 513-524
General Dynamic Formulation of the Force Distribution Equations....Pages 525-546
An Overview of KALI: a System to Program and Control Cooperative Manipulators....Pages 547-558
A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator....Pages 559-591
Joint Compliance Control of the Anthropomorphic Manipulator....Pages 592-603
Independent Joint Controllability of Manipulator System....Pages 604-612
A Generalized Approach for the Control of Constrained Robots....Pages 613-639
A Study on Walking Robots Controlled with Attitude Sensors....Pages 640-651
Development on Walking Robot for Underwater Inspection....Pages 652-663
Locomotion of a Machine of a Static Crawler Type: Gait Modelling....Pages 664-675
Terrain Adaptive Tracked Vehicle HELIOS-I....Pages 676-687