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Control Problems in Robotics

  • Book
  • © 2003

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Editors:
  1. Antonio Bicchi

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

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  2. Domenico Prattichizzo

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

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  3. Henrik Iskov Christensen

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

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  • Presentation of recent problems in robotics and automation
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 4)

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Table of contents (17 chapters)

  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
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Keywords

About this book

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.

Editors and Affiliations

  • 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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