Robot Motion and Control: Recent Developments [1 ed.] 9781846284045, 184628404X

Table of contents :
Front Matter....Pages I-XV
Front Matter....Pages 1-1
Trajectory Tracking for Nonholonomic Vehicles....Pages 3-23
Posture Stabilization of a Unicycle Mobile Robot — Two Control Approaches....Pages 25-54
Trajectory Tracking Control for Nonholonomic Mobile Manipulators....Pages 55-71
Bases for Local Nonholonomic Motion Planning....Pages 73-84
On Drift Neutralization of Stratified Systems....Pages 85-96
Front Matter....Pages 97-97
Novel Adaptive Control of Partially Modeled Dynamic Systems....Pages 99-111
Example Applications of Fuzzy Reasoning and Neural Networks in Robot Control....Pages 113-127
Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path....Pages 129-139
Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs....Pages 141-152
Flexible Robot Trajectory Tracking Control....Pages 153-163
Modeling, Motion Planning and Control of the Drones with Revolving Aerofoils: an Outline of the XSF Project....Pages 165-177
Front Matter....Pages 179-179
Absolute Orientation Estimation for Observer-based Control of a Five-link Walking Biped Robot....Pages 181-199
Biologically Inspired Motion Planning in Robotics....Pages 201-219
Control of an Autonomous Climbing Robot....Pages 221-232
Computation of Optimum Consumption of Energy for Anthropomorphic Robot Driven by Electric Motor....Pages 233-241
Front Matter....Pages 243-243
Real-Time Motion Planning and Control in the 2005 Cornell RoboCup System....Pages 245-263
Transition-Function Based Approach to Structuring Robot Control Software....Pages 265-286
Steps Toward Derandomizing RRTs....Pages 287-300
Tracking Methods for Relative Localisation....Pages 301-313
Robot Localisation Methods Using the Laser Scanners....Pages 315-332
Front Matter....Pages 333-333
Complex Control Systems: Example Applications....Pages 335-350
Examples of Transillumination Techniques Used in Medical Measurements and Imaging....Pages 351-364
Telerobotic Simulator in Minimally Invasive Surgery....Pages 365-373
Human-robot Interaction and Robot Control....Pages 375-390
On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics....Pages 391-404
Back Matter....Pages 406-407