Robot Motion and Control 2007

Front Matter....Pages -
Front Matter....Pages 1-1
Modelling and Trajectory Generation of Lighter-Than-Air Aerial Robots - Invited Paper....Pages 3-28
Control of 3 DOF Quadrotor Model....Pages 29-38
Internal Model Control-Based Adaptive Attitude Tracking....Pages 39-48
Tracking Control of Automated Guided Vehicles....Pages 49-56
VFO Control for Mobile Vehicles in the Presence of Skid Phenomenon....Pages 57-66
Front Matter....Pages 67-67
Vision-Based Dynamic Velocity Field Generation for Mobile Robots....Pages 69-79
Zoom Control to Compensate Camera Translation Within a Robot Egomotion Estimation Approach....Pages 81-88
Two-Finger Grasping for Vision Assisted Object Manipulation....Pages 89-98
Trajectory Planning with Control Horizon Based on Narrow Local Occupancy Grid Perception....Pages 99-106
Front Matter....Pages 107-107
Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment Passivity-Based Control Approach....Pages 109-117
A New Control Algorithm for Manipulators with Joint Flexibility....Pages 119-135
An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulators....Pages 137-146
Velocity Tracking Controller for Rigid Manipulators....Pages 147-155
Fixed Point Transformations-Based Approach in Adaptive Control of Smooth Systems....Pages 157-166
Driving Redundant Robots by a Dedicated Clutch-Based Actuator....Pages 167-176
An Energy-Based Approach Towards Modeling of Mixed Reality Mechatronic Systems....Pages 177-184
Front Matter....Pages 185-185
Navigation of Autonomous Mobile Robots - Invited Paper....Pages 187-208
Kinematic Motion Patterns of Mobile Manipulators....Pages 209-217
Generalized Kinematic Control of Redundant Manipulators....Pages 219-226
Parametric Representation of the Environment of a Mobile Robot for Measurement Update in a Particle Filter....Pages 227-237
Front Matter....Pages 185-185
Simulation of a Mobile Robot with an LRF in a 2D Environment and Map Building....Pages 239-246
Front Matter....Pages 247-247
Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment....Pages 249-258
Computationally Efficient Path Planning for Wheeled Mobile Robots in Obstacle Dense Environments....Pages 259-268
Piecewise-Constant Controls for Newtonian Nonholonomic Motion Planning....Pages 269-277
Path Following for Nonholonomic Mobile Manipulators....Pages 279-292
Front Matter....Pages 293-293
On Simulator Design of the Spherical Therapeutic Robot Koala....Pages 295-302
Development of Rehabilitation Training Support System Using 3D Force Display Robot....Pages 303-310
Applying CORBA Technology for the Teleoperation of Wheeeler....Pages 311-318
Front Matter....Pages 319-319
Educational Walking Robots....Pages 321-328
Humanoid Binaural Sound Tracking Using Kalman Filtering and HRTFs....Pages 329-340
Mechatronics of the Humanoid Robot ROMAN....Pages 341-348
Front Matter....Pages 349-349
Assistive Feeding Device for Physically Handicapped Using Feedback Control....Pages 351-359
Design and Control of a Heating-Pipe Duct Inspection Mobile Robot....Pages 361-370
Measurement and Navigation System of the Inspection Robot RK-13....Pages 371-380
Architecture of Multi-segmented Inspection Robot KAIRO-II....Pages 381-389
The Project of an Autonomous Robot Capable to Cooperate in a Group....Pages 391-399
End-Effector Sensors’ Role in Service Robots....Pages 401-413
Front Matter....Pages 415-415
Detecting Intruders in Complex Environments with Limited Range Mobile Sensors....Pages 417-425
High-Level Motion Control for Workspace Sharing Mobile Robots....Pages 427-436
Urban Traffic Control and Path Planning for Vehicles in Game Theoretic Framework....Pages 437-444
Front Matter....Pages 415-415
A Low-Cost High Precision Time Measurement Infrastructure for Embedded Mobile Systems....Pages 445-452
Back Matter....Pages -