Robot Motion and Control 2009

Front Matter....Pages -
Front Matter....Pages 1-1
Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs....Pages 3-12
Identification of a UAV Model for Control....Pages 13-22
Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input....Pages 23-34
Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation....Pages 35-44
Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis....Pages 45-56
Trajectory Tracking for Formation of Mobile Robots....Pages 57-66
Front Matter....Pages 67-67
Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam....Pages 69-81
Application of the Return Method to the Steering of Nonlinear Systems....Pages 83-91
Application of Robust Fixed Point Transformations for Technological Operation of Robots....Pages 93-101
Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems....Pages 103-112
Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications....Pages 113-122
Combinatorial Control Systems....Pages 123-132
Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation....Pages 133-142
Front Matter....Pages 143-143
Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges....Pages 145-154
Adaptation of a Six-legged Walking Robot to Its Local Environment....Pages 155-164
Development of Two-legged Robot....Pages 165-173
Quadruped Walking Robot WR-06 – Design, Control and Sensor Subsystems....Pages 175-184
Population-based Methods for Identification and Optimization of a Walking Robot Model....Pages 185-195
Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot....Pages 197-206
Front Matter....Pages 207-207
Human-aware Interaction Control of Robot Manipulators Based on Force and Vision....Pages 209-225
Front Matter....Pages 207-207
Specification of Multi-robot Controllers on an Example of a Haptic Device....Pages 227-242
Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators....Pages 243-253
Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robotic Hands....Pages 255-264
Compliant Motion Control for Safe Human Robot Interaction....Pages 265-274
Front Matter....Pages 275-275
Nonholonomic Motion Planning of Mobile Robots....Pages 277-286
Minimum-time Velocity Planning with Arbitrary Boundary Conditions....Pages 287-296
Motion Planning for Highly Constrained Spaces....Pages 297-306
RRT-path – A Guided Rapidly Exploring Random Tree....Pages 307-316
Front Matter....Pages 317-317
Position Estimation Techniques for Mobile Robots....Pages 319-328
Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry....Pages 329-338
Observable Formulation SLAM Implementation....Pages 339-348
Estimation of Velocity Components Using Optical Flow and Inner Product....Pages 349-358
Front Matter....Pages 359-359
Acoustic Coupling on the Robot Motion and Control....Pages 361-370
Design of a Planar High Precision Motion Stage....Pages 371-379
Hexa Platform as Active Environment System....Pages 381-390
A Modular Concept for a Biologically Inspired Robot....Pages 391-400
Control System for Designed Mobile Robot – Project, Implementation, and Tests....Pages 401-410
Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects....Pages 411-420
Front Matter....Pages 421-421
Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot....Pages 423-432
Tests on Cardiosurgical Robot RobIn Heart 3....Pages 433-442
Front Matter....Pages 421-421
Ankle Robot for People with Drop Foot – Case Study....Pages 443-452
Evolution of a Useful Autonomous System....Pages 453-462
Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT....Pages 463-472
Back Matter....Pages -