Robot Motion and Control 2011

Front Matter....Pages 1-23
Front Matter....Pages 1-1
Symmetries in Observer Design: Review of Some Recent Results and Applications to EKF-based SLAM....Pages 3-15
Constraint Control of Mobile Manipulators....Pages 17-26
Control Methods for Wheeeler – The Hypermobile Robot....Pages 27-37
Tracking Control Strategy for the Standard N -trailer Mobile Robot – A Geometrically Motivated Approach....Pages 39-51
Robust Control of Differentially Driven Mobile Platforms....Pages 53-64
Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique....Pages 65-74
Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping....Pages 75-85
Front Matter....Pages 87-87
First Steps toward Automatically Generating Bipedal Robotic Walking from Human Data....Pages 89-116
Dynamic Position/Force Controller of a Four Degree-of-Freedom Robotic Leg....Pages 117-126
Perception-Based Motion Planning for a Walking Robot in Rugged Terrain....Pages 127-136
Improving Accuracy of Local Maps with Active Haptic Sensing....Pages 137-146
Postural Equilibrium in Two-Legged Locomotion....Pages 147-156
Front Matter....Pages 157-157
Generalized Predictive Control of Parallel Robots....Pages 159-169
Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System....Pages 171-182
Indirect Linearization Concept through the Forward Model-Based Control System....Pages 183-192
Research Oriented Motor Controllers for Robotic Applications....Pages 193-203
Efficient and Simple Noise Filtering for Stabilization Tuning of a Novel Version of a Model Reference Adaptive Controller....Pages 205-214
Real-Time Estimation and Adaptive Control of Flexible Joint Space Manipulators....Pages 215-224
Visual Servo Control Admitting Joint Range of Motion Maximally....Pages 225-235
Optimal Extended Jacobian Inverse Kinematics Algorithm with Application to Attitude Control of Robotic Manipulators....Pages 237-246
Front Matter....Pages 157-157
Active Disturbance Rejection Control for a Flexible-Joint Manipulator....Pages 247-256
Front Matter....Pages 257-257
Collision Free Coverage Control with Multiple Agents....Pages 259-272
Manipulating Ergodic Bodies through Gentle Guidance....Pages 273-282
Practical Efficiency Evaluation of a Nilpotent Approximation for Driftless Nonholonomic Systems....Pages 283-292
Obstacle Avoidance and Trajectory Tracking Using Fluid-Based Approach in 2D Space....Pages 293-304
Motion Planning of Nonholonomic Systems – Nondeterministic Endogenous Configuration Space Approach....Pages 305-315
Front Matter....Pages 317-317
Generation of Time Optimal Trajectories of an Autonomous Airship....Pages 319-329
Formation Flight Control Scheme for Unmanned Aerial Vehicles....Pages 331-340
Comparison of Two- and Four-Engine Propulsion Structures of Airship....Pages 341-350
Dynamic Simulations of Free-Floating Space Robots....Pages 351-361
Front Matter....Pages 363-363
Planning Motion of Manipulators with Local Manipulability Optimization....Pages 365-375
A Comparison Study of Discontinuous Control Algorithms for a Three-Link Nonholonomic Manipulator....Pages 377-389
Front Matter....Pages 391-391
Development of Knee Joint Robot with Flexion, Extension and Rotation Movements – Experiments on Imitation of Knee Joint Movement of Healthy and Disable Persons....Pages 393-402
Exercise Programming and Control System of the Leg Rehabilitation Robot RRH1....Pages 403-412
Back Matter....Pages 1-8