Book Cover
Book
Author International Workshop on Control Problems in Robotics and Automation (2nd : 2002 : Las Vegas, Nev.)

Title Control problems in robotics / Antonio Bicchi, Henrik I. Christensen, Domenico Prattichizzo, eds
Published Berlin ; London : Springer, 2003

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Description xiv, 280 pages : illustrations ; 24 cm
Series Springer tracts in advanced robotics ; v. 4
Springer tracts in advanced robotics ; v. 4
Contents Machine derived contents note: Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning.- From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories.- Control of Nonprehensile Manipulation.- Motion Planning and Control Problems for Underactuated Robots.- Motion Description Languages for Multi-Modal Control in Robotics.- Polynomial Design of Dynamics-based Information Processing System.- Actuation Methods For Human-Centered Robotics and Associated Control Challenges.- Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach.- Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots.- Toward the Control of Self-Assembling Systems.- Towards Abstraction and Control for Large Groups of Robots.- Omnidirectional Sensing for Robot Control.- A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer.- Visual Servoing along Epipoles.- Toward Geometric Visual Servoing.- Vision-Based Online Trajectory Generation and Its Application to Catching.- Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties
Summary This book aims at reporting some of the most challenging open problems of control theoretic nature raised by robotics applications. Topics covered in the book represent many of the most innovative areas in contemporary robotics research, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, flexible and cooperative robots, or assembly systems. The basic idea behind the book is to present the variety of innovative applications and related technology demands that arise from robotics and automation to a larger community, including in particular, researchers in automatic control, applied mathematics, mechanical engineering, or computer science. The book is intended for an audience of researchers and graduate students in those disciplines and in robotics. It is the outcome of a workshop held in Las Vegas, Nevada on December 14, 2002 jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society
Notes Edited selection of papers presented at the second International Workshop on Control Problems in Robotics and Automation, held in Las Vegas, Nevada, December 14, 2002
Bibliography Includes bibliographical references
Notes Print version record
Subject Automatic control.
Robots -- Control systems.
Automation.
Genre/Form Conference papers and proceedings.
Author Christensen, H. I. (Henrik I.), 1962-
Bicchi, Antonio, 1959-
Prattichizzo, Domenico, 1965-
LC no. 2002042917
ISBN 3540002510 alkaline paper