Control Problems in Robotics

1. Front Matter

   Pages I-XIV

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2. Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning

   • Florent Lamiraux, David Bonnafous, Carl Van Geem

   Pages 1-18

3. From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories

   • Steven M. LaValle

   Pages 19-37

4. Control of Nonprehensile Manipulation

   • Kevin M. Lynch, Todd D. Murphey

   Pages 39-57

5. Motion Planning and Control Problems for Underactuated Robots

   • Sonia Martínez, Jorge Cortés, Francesco Bullo

   Pages 59-74

6. Motion Description Languages for Multi-Modal Control in Robotics

   • Magnus Egerstedt

   Pages 75-89

7. Polynomial Design of Dynamics-based Information Processing System

   • Masafumi Okada, Yoshihiko Nakamura

   Pages 91-104

8. Actuation Methods For Human-Centered Robotics and Associated Control Challenges

   • Michael Zinn, Oussama Khatib, Bernard Roth, J. Kenneth Salisbury

   Pages 105-119

9. Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach

   • Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford

   Pages 121-134

10. Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots

    • Alin Albu-Schäffer, Gerd Hirzinger

    Pages 135-151

11. Toward the Control of Self-Assembling Systems

    • Eric Klavins

    Pages 153-167

12. Towards Abstraction and Control for Large Groups of Robots

    • Calin Belta, Vijay Kumar

    Pages 169-182

13. Omnidirectional Sensing for Robot Control

    • Kostas Daniilidis, Christopher Geyer, Volkan Isler, Ameesh Makadia

    Pages 183-197

14. A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer

    • Hiroyuki Kawai, Shintaro Izoe, Masayuki Fujita

    Pages 199-213

15. Visual Servoing Along Epipoles

    • Jacopo Piazzi, Domenico Prattichizzo, Antonio Vicino

    Pages 215-231

16. Toward Geometric Visual Servoing

    • Noah John Cowan, Dong Eui Chang

    Pages 233-247

17. Vision-Based Online Trajectory Generation and Its Application to Catching

    • Akio Namiki, Masatoshi Ishikawa

    Pages 249-264

18. Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties

    • Ezio Malis

    Pages 265-280

The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.

• Automatic Control
• Emerging Technologies
• Information Science and Technology
• Motion Planning
• Robotics
• algorithms
• automation
• optimization
• programming
• robot
• robotics research
• sensing
• stability

• Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Pisa, Italy

  Antonio Bicchi

• Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Siena, Italy

  Domenico Prattichizzo

• Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, Stockholm, Sweden

  Henrik Iskov Christensen

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