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Essays on Mathematical Robotics

  • Book
  • © 1998

Overview

Editors:
  1. John Baillieul

    1. College of Engineering, Boston University, Boston, USA

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  2. Shankar S. Sastry

    1. Department of Electrical Engineering and Computer Science, University of California, Berkeley, Berkeley, USA

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    You can also search for this editor in PubMed   Google Scholar

  3. Hector J. Sussmann

    1. Department of Mathematics, Rutgers University, New Brunswick, USA

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Part of the book series: The IMA Volumes in Mathematics and its Applications (IMA, volume 104)

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Table of contents (10 chapters)

  1. Front Matter

    Pages i-ix
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  2. The Role of Compliant Fingerpads in Grasping and Manipulation: Identification and Control

    • Anuradha M. Annaswamy, Mandayam A. Srinivasan
    Pages 1-29

  3. Event—Based Planning and Control for Robotic Systems: Theory and Implementation

    • Tzyh-Jong Tarn, Ning Xi
    Pages 31-59

  4. The Kinematics of Hyper-Redundant Robots

    • Joel W. Burdick, Gregory S. Chirikjian
    Pages 61-89

  5. Line-Integral Estimates and Motion Planning Using the Continuation Method

    • Yacine Chitour, Héctor J. Sussmann
    Pages 91-125

  6. Kinematic Path Planning for Robots with Holonomic and Nonholonomic Constraints

    • Adam Divelbiss, Sanjeev Seereeram, John T. Wen
    Pages 127-150

  7. A General Approach to Path Planning for Systems Without Drift

    • Eduardo D. Sontag
    Pages 151-168

  8. Discontinuous Stabilization of Brockett’s Canonical Driftless System

    • Anthony Bloch, Sergey Drakunov
    Pages 169-183

  9. On Feedback Linearization of Robot Manipulators and Riemannian Curvature

    • Mark W. Spong
    Pages 185-202

  10. Averaging and Energy Methods for Robust Open-Loop Control of Mechanical Systems

    • S. Weibel, J. Baillieul
    Pages 203-269

  11. Exterior Differential Systems in Control and Robotics

    • George J. Pappas, John Lygeros, Dawn Tilbury, Shankar Sastry
    Pages 271-372

  12. Back Matter

    Pages 373-379
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Keywords

Editors and Affiliations

  • College of Engineering, Boston University, Boston, USA

    John Baillieul

  • Department of Electrical Engineering and Computer Science, University of California, Berkeley, Berkeley, USA

    Shankar S. Sastry

  • Department of Mathematics, Rutgers University, New Brunswick, USA

    Hector J. Sussmann

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