Control Problems in Robotics

Antonio Bicchi, Henrik L. Christensen, Domenico Prattichizzo

294 pages, parution le 18/02/2003

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Résumé

This book aims at reporting some of the most challenging open problems of control theoretic nature raised by robotics applications. Topics covered in the book represent many of the most innovative areas in contemporary robotics research, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, flexible and cooperative robots, or assembly systems.

The basic idea behind the book is to present the variety of innovative applications and related technology demands that arise from robotics and automation to a larger community, including in particular, researchers in automatic control, applied mathematics, mechanical engineering, or computer science. The book is intended for an audience of researchers and graduate students in those disciplines and in robotics. It is the outcome of a workshop held in Las Vegas, Nevada on December 14, 2002 jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society.

Contents

Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning
From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories
Control of Nonprehensile Manipulation
Motion Planning and Control Problems for Underactuated Robots
Motion Description Languages for Multi-Modal Control in Robotics
Polynomial Design of Dynamics-based Information Processing System
Actuation Methods For Human-Centered Robotics and Associated Control Challenges
Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach
Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots
Toward the Control of Self-Assembling Systems
Towards Abstraction and Control for Large Groups of Robots
Omnidirectional Sensing for Robot Control
A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer
Visual Servoing along Epipoles
Toward Geometric Visual Servoing
Vision-Based Online Trajectory Generation and Its Application to Catching
Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties

L'auteur - Antonio Bicchi

Universitá di Pisa, Italy

L'auteur - Domenico Prattichizzo

Universitá degli Studi di Siena, Italy (Eds.)

Caractéristiques techniques

	PAPIER
Éditeur(s)	Springer
Auteur(s)	Antonio Bicchi, Henrik L. Christensen, Domenico Prattichizzo
Parution	18/02/2003
Nb. de pages	294
Format	16 x 24
Couverture	Relié
Poids	545g
Intérieur	Noir et Blanc
EAN13	9783540002512