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Experimental Robotics III : The 3rd International Symposium, Kyoto, Japan, October 28-30, 1993 : Lecture Notes in Control and Information Sciences - Tsuneo Yoshikawa

Experimental Robotics III : The 3rd International Symposium, Kyoto, Japan, October 28-30, 1993

Lecture Notes in Control and Information Sciences

By: Tsuneo Yoshikawa (Editor), Fumio Miyazaki (Editor)

Paperback

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This is the third in a series of specialized international symposia held every two years and dedicated to presenting and discussing in depth the research results and on-going developments in robotics which have both theoretical foundations and experimental validations. There are 43 papers, from 10 countries, presented in nine titled sections.

Author Index
Experimental Results on Controlling a 6-DOF Robot Manipulator in the Neighborhood of Kinematic Singularitiesp. 3
Experiments in Multi-Grasp Manipulationp. 14
A Control Scheme Avoiding Singular Behavior of Self-Posture Changing Motionp. 29
Control Considerations on Minimum Joint Torque Motionp. 40
Experimental Integration of Planning in a Distributed Control Systemp. 50
Parallel Motion Planning with the Ariadne's Clew Algorithmp. 62
Robust Force Control of Manipulators Based on [actual symbol not reproducible] Control Theoryp. 75
Adaptive Dynamic Hybrid Position and Force Control of Flexible Joint Robot Manipulatorsp. 87
Experiments on Impedance Control to Derive Adaptive Strategiesp. 103
Segmentation and Interpretation of Temporal Contact Signalsp. 120
Robot Force Control without Stability Problemsp. 132
A Robotic Cell for Deburring of Polygonal Objectsp. 143
An Experimental Environment for Adaptive Robot Force Controlp. 152
Integrating Sensor Placement and Visual Tracking Strategiesp. 169
Effect of Camera Calibration Errors on Visual Servoing in Roboticsp. 182
Experiments in High-Performance Robotic Visual Servoingp. 193
Auto-Calibration in Automation Systems Using Visionp. 206
Tactile Servo: Control of Touch-Driven Robot Motionp. 221
A Neural Network-Based Robotic System Implementing Recent Biological Theories on Tactile Perceptionp. 234
Reinforcement Learning of Assembly Robotsp. 245
Detection of Occluding Contours and Occlusion by Active Binocular Stereop. 255
Experiments with an Electrically Actuated Planar Hopping Robotp. 269
Dynamic Stereo Triangulation for Robot Jugglingp. 282
Design of a Hydraulic Robot Shoulder Based on a Combinatorial Mechanismp. 297
Practical Realization of Mechatronics in Roboticsp. 310
An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot Joints with Harmonic Drives and Torque Sensorsp. 326
High-Frequency Force Information in Teleoperated Manipulationp. 343
Micro Teleoperation System Concentrating Visual and Force Information at Operator's Handp. 353
Teleoperation with Virtual Force Feedbackp. 366
Teleoperated Sensing by Grasping: Robot Sensors and Human Psychophysicsp. 376
Task Sharing and Intervention in Human-Robot Cooperating Systemsp. 391
Coarse-Fine Motion Coordination and Control of a Teleoperation System with Magnetically Levitated Master and Wristp. 406
Autonomous Navigation in Natural Environmentsp. 425
A Unified Approach to Planning, Sensing and Navigation for Mobile Robotsp. 444
Combining Physical and Geometric Models to Plan Safe and Executable Motions for a Rover Moving on a Terrainp. 456
Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Amblerp. 476
Development of a Reactive Mobile Robot Using Real Time Visionp. 486
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithmsp. 501
Experimental Investigations of Sensor-Based Surface Following Tasks by a Mobile Manipulatorp. 514
Configuration-Dependent Controllability of Flexible Manipulatorsp. 531
Point to Point Learning Control of a Two-Link Flexible Armp. 545
Space Robotics Research Activity with Experimental Free-Floating Robot Satellite (EFFORTS) Simulatorsp. 561
ROTEX - The First Space Robot Technology Experimentp. 579
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9783540199052
ISBN-10: 3540199055
Series: Lecture Notes in Control and Information Sciences
Audience: General
Format: Paperback
Language: English
Number Of Pages: 602
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.39 x 15.6  x 3.2
Weight (kg): 0.86