Control Problems in Robotics

The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems. Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning....Pages 1-18 From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories....Pages 19-37 Control of Nonprehensile Manipulation....Pages 39-57 Motion Planning and Control Problems for Underactuated Robots....Pages 59-74 Motion Description Languages for Multi-Modal Control in Robotics....Pages 75-89 Polynomial Design of Dynamics-based Information Processing System....Pages 91-104 Actuation Methods For Human-Centered Robotics and Associated Control Challenges....Pages 105-119 Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach....Pages 121-134 Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots....Pages 135-151 Toward the Control of Self-Assembling Systems....Pages 153-167 Towards Abstraction and Control for Large Groups of Robots....Pages 169-182 Omnidirectional Sensing for Robot Control....Pages 183-197 A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer....Pages 199-213 Visual Servoing Along Epipoles....Pages 215-231 Toward Geometric Visual Servoing....Pages 233-247 Vision-Based Online Trajectory Generation and Its Application to Catching....Pages 249-264 Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties....Pages 265-280

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.

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