Titlebook: Control Problems in Robotics; Antonio Bicchi,Domenico Prattichizzo,Henrik Iskov Book 2003 Springer-Verlag Berlin Heidelberg 2003 Automati

Scleroderma

Actuation Methods For Human-Centered Robotics and Associated Control Challenges,t possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we describe recent developments in low impedance actuation that have allowed for improvements in the safety characteristics of human-centered manipulators. In addition, the control challenges unique

Expediency

Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach,ontrol approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time domain passivity control framework due to a possibly active transfer function from the collocated output to the noncollocated output. The developed method is simulated with the mo

Constitution

Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots,ement. While the Cartesian impedance control for rigid robots, as well as the joint level control of flexible joint robots have been studied in detail, their combined implementation on robots with six or seven joints still leaves many open questions from a practical point of view. On the other hand,

移植

Madrigal

Apoptosis

Omnidirectional Sensing for Robot Control,appearance-based localization cannot be overlooked. In this paper, we address the basic questions of how to process omnidirectional signals, how to describe the intrinsic geometry of omnidirectional cameras with a single viewpoint, how to infer 3D motion, and how to place omnidirectional sensors eff

Gratulate

A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer,dy motion (positions and rotations) and the method for estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we lead a structural passivity-like property of the visual feedback system. Next, we consider the velocity observer and derive the

BULLY

Visual Servoing Along Epipoles,oles position obtained by points correspondences extracted from the current and target images. The camera-robot motion is computed from the observation of the epipoles coordinates. Only the principal camera point is assumed to be known but not the other intrinsic parameters. Experimental results are

Anguish

catagen

Vision-Based Online Trajectory Generation and Its Application to Catching,mation to the desired trajectory, and this nonlinear mapping is defined by learning based on constraints of dynamics and kinematics. This method is applied to a catching task, and a reactive and flexible motion is obtained owing to real-time high-speed visual information. Experimental results on cat