Experimental Robotics II: The 2nd International Symposium, Toulouse, France, June 25–27 1991

The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments....Pages 1-24
Robot control in singular configurations — Analysis and experimental results....Pages 25-34
Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results....Pages 35-48
Adaptive and fault tolerant tracking control of a pneumatic actuator....Pages 49-58
Experimental verification of human skill transfer to deburring robots....Pages 59-77
Learning of robotic assembly based on force information....Pages 78-88
Model based implementation of a manipulation system with artificial skills....Pages 89-98
A learning control system for an articulated gripper....Pages 99-111
Implementation of behavioral control on a robot hand/arm system....Pages 113-135
Mechanical and control issues for integration of an arm-hand robotic system....Pages 136-152
Experimental evaluation of friction characteristics with an articulated robotic hand....Pages 153-167
Intelligent robot gripper for general purposes....Pages 168-175
A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery....Pages 177-195
An experimental environment for task-level programming of robots....Pages 196-206
An architecture for task interpretation and execution control for intervention robots: Preliminary experiments....Pages 207-221
A sensor-based telerobotic system for the space robot experiment ROTEX....Pages 222-238
Towards real-time execution of motion tasks....Pages 239-254
Force control of a two-arm robot manipulating a deformable object....Pages 255-269
A practical system for planning safe trajectories for manipulator robots....Pages 270-281
Preliminary experiments in spatial robot juggling....Pages 282-298
A comparison of realtime obstacle avoidance methods for mobile robots....Pages 299-316
Object-oriented design of mobile robot control systems....Pages 317-328
Action level behaviours for locomotion and perception....Pages 329-343
Implementation of a small size experimental self-contained autonomous robot — sensors, vehicle control, and description of sensor based behavior....Pages 344-358
Mapping rugged terrain for a walking robot....Pages 359-366
Localization of a multi-articulated 3D object from a mobile multisensor system....Pages 367-378
Object understanding through visuo-motor cooperation....Pages 379-387
Real-time vision based control of servomechanical systems....Pages 388-402
Contact operations using an instrumented compliant wrist....Pages 403-419
Controlling contact by integrating proximity and force sensing....Pages 420-434
End point control of compliant robots....Pages 435-449
Use of C-surface based force-feedback algorithm for complex assembly tasks....Pages 450-462
Passive dynamic biped catalogue, 1991....Pages 463-490
Realization of dynamic quadruped locomotion in pace gait by controlling walking cycle....Pages 491-502
System identification and modelling of a high performance hydraulic actuator....Pages 503-520
Experimental evaluation of human arm kinematics....Pages 521-530
Modeling and control of a three degree of freedom manipulator with two flexible links....Pages 531-545
Experimental examination of the identification methods for an industrial robot manipulator....Pages 546-560