Advanced Robotics

A-1: Hand Design.- On a New Torque Sensor for Compliant Grasp by Robot Fingers with a Tendon Actuation System.- A Learning Mechanism of Control Parameters for The Variable Structure Fuzzy Logic Controller.- B-1: Manipulator Kinematics (I).- On the Inverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds.- Symbolic Equation Generation for Manipulators.- An Approach to Manipulator Kinematic Modeling.- A-2: Mobile Robots.- Fundamental Studies of Collision Avoidance Problems Between a Robot and a Moving Obstacle. Part 1 Heuristic Collision Avoidance Techniques and Fundamental Experiments with a Real Robot.- Model and Sensor Based Precise Navigation by an Autonomous Mobile Robot.- Reactive Processes for Mobile Robot Control.- Powered Wheelchair Equipped with Voice Control and Automatic Locomotion.- B-2: Flexible Arm Control.- Nonlinear Decoupling Control/Control of Flexible Robots.- Application and Comparison of On-Line Identification Methods for Flexible Manipulator Control.- Trajectory Shaping for Flexible Manipulators: A Comparative Study.- A-3: Manipulator Dynamics.- An Algorithm for Efficient Computation of Dynamics of Robotic Manipulators.- Calculation of the Minimum Inertial Parameters of Tree Structure Robots.- Parallel Algorithms and Architectures for Manipulator Inverse Dynamics.- B-3: Actuators and Sensors.- Shape Memory Alloy Actuators for Robotic End-Effectors.- An Artificial Muscle Actuator for Robots.- High Precision Mark Position Sensing Device R-HPSD Suitable for 3-D Position Determination in Robotics.- The Ultrasonic Inspection Robot System.- A-4: Multiple-Limb Co-ordination and Legged Locomotion.- An Approach to Simultaneous Control of Trajectory and Interaction forces in Dual Arm Configurations.- Realization of Dynamic Biped Walking Walking Stabilized With Trunk Motion Under Known External Force.- Power System of a Multi-Legged Walking Vehicle.- On the Stability Properties of 2N-Legged Wave Gaits.- B-4: Vision.- Depth Perception for Robots: Structural Stereo from Extended Laplacian-of-Gaussian Features.- Location of the Mobile Robot CENTAURE in a Modelled Environment with PYRAMIDE.- An Auto-Calibration System for Vision-Servoed Robots.- Visual Servoing of a Robot Assembly Task.- A-5: Path Planning and Collision Avoidance.- Computing Moveability Areas of a Robot Among Obstacles Using Octrees.- Determination of the Space Occupied by Moving Links of Manipulators and Linkages.- Collision-Free Path Planning for a Reconfigurable Robot.- Characterizing Repetition in Workcell Applications and the Implications for Sequence Optimization.- B-5: Hybrid Control (I).- Analysis and Design of a Six Axis Truss Type of Force Sensor.- The Interaction of Robots with Passive Environments: Application to Force Feedback Control.- A-6: Manipulator Kinematics (II).- The Dynamic Model of a Three Degree of Freedom Parallel Robotic Shoulder Module.- Kinematics of Redundantly Actuated Closed Kinematic Chains.- Identifying the Kinematics of Non-Redundant Serial Chain Manipulators by a Closed-loop Approach.- General Dynamic Formulation of the Force Distribution Equations.- B-6: Cooperative Manipulation.- An Overview of KALI: a System to Program and Control Cooperative Manipulators.- A-7: Hybrid Control (II).- A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator.- Joint Compliance Control of the Anthropomorphic Manipulator.- Independent Joint Controllability of Manipulator System.- A Generalized Approach for the Control of Constrained Robots.- B-7: Legged Locomotion and Adaptive Vehicles.- A Study on Walking Robots Controlled with Attitude Sensors.- Development on Walking Robot for Underwater Inspection.- Locomotion of a Machine of a Static Crawler Type: Gait Modelling.- Terrain Adaptive Tracked Vehicle HELIOS-I.