Robot Motion and Control 2009 (eBook)

Part I: Control of Nonholonomic Systems.- Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs.- Identification of a UAV Model for Control.- Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input.- Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator using Polar-like Coordinate Representation.- Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis.- Trajectory Tracking for Formation of Mobile Robots.- Part II: New Control Algorithms for Robot Manipulators.- Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam.- Application of the Return Method to the Steering of Nonlinear Systems.- Application of Robust Fixed Point Transformations for Technological Operation of Robots.- Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems.- Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications.- Combinatorial Control Systems.- Computational Algebra Support for the Chen–Fliess–Sussmann Differential Equation.- Part III: Control of Walking Robots.- Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges.- Adaptation of a Six-legged Walking Robot to Its Local Environment.- Development of Two-legged Robot.- Quadruped Walking Robot WR-06 – Design, Control and Sensor Subsystems.- Population-based Methods for Identification and Optimization of a Walking Robot Model.- Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot.- Part IV: Compliant Motion and Manipulation.- Human-aware Interaction Control of Robot Manipulators Based on Force and Vision.- Specification of Multi-robot Controllers on an Example of a Haptic Device.- Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators.- Inverse Kinematics for Object Manipulation with RedundantMulti-fingered Robotic Hands.- Compliant Motion Control for Safe Human Robot Interaction.- Part V: Trajectory Planning Issues for Nonholonomic Systems.- Nonholonomic Motion Planning of Mobile Robots.- Minimum-time Velocity Planning with Arbitrary Boundary Conditions.- Motion Planning for Highly Constrained Spaces.- RRT–Path – A Guided Rapidly Exploring Random Tree.- Part VI: New Trends in Localization Methods.- Position Estimation Techniques for Mobile Robots.- Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry.- Observable Formulation SLAM Implementation.- Estimation of Velocity Components using Optical Flow and Inner Product.- Part VII: Sensors and New Challenges in Design of Modular Robots.- Acoustic Coupling on the Robot Motion and Control.- Design of a Planar High Precision Motion Stage.- Hexa Platform as Active Environment System.- A Modular Concept for a Biologically Inspired Robot.- Control System for Designed Mobile Robot – Project, Implementation, and Tests.- Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects.- Part VIII: Applications of Robotic Systems.- Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot.- Tests on Cardiosurgical Robot RobIn Heart 3.- Ankle Robot for People with Drop Foot – Case Study.- Evolution of a Useful Autonomous System.- Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT.