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

ISBN-13: 9783540199052 / Angielski / Miękka / 1994 / 602 str.

Tsuneo Yoshikawa; Fumio Miyazaki

Opis

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.

Spis treści

Experimental results on controlling a 6-DOF robot manipulator in the neighborhood of kinematic singularities.- Experiments in multi-grasp manipulation.- A control scheme avoiding singular behavior of Self-Posture changing Motion.- Control considerations on minimum joint torque motion.- Experimental integration of planning in a distributed control system.- Parallel motion planning with the Ariadne's Clew Algorithm.- Robust force control of manipulators based on H ? control theory.- Adaptive dynamic hybrid position and force control of flexible joint robot manipulators.- Experiments on impedance control to derive adaptive strategies.- Segmentation and interpretation of temporal contact signals.- Robot force control without stability problems.- A robotic cell for deburring of polygonal objects.- An experimental environment for adaptive robot force control.- Integrating sensor placement and visual tracking strategies.- Effect of camera calibration errors on visual servoing in robotics.- Experiments in high-performance robotic visual servoing.- Auto-calibration in automation systems using vision.- Tactile servo: Control of touch-driven robot motion.- A neural network-based robotic system implementing recent biological theories on tactile perception.- Reinforcement learning of assembly robots.- Detection of occluding contours and occlusion by active binocular stereo.- Experiments with an electrically actuated planar hopping robot.- Dynamic stereo triangulation for robot juggling.- Design of a hydraulic robot shoulder based on a combinatorial mechanism.- Practical realization of mechatronics in robotics.- An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors.- High-frequency force information in teleoperated manipulation.- Micro teleoperation system concentrating visual and force information at Operator's hand.- Teleoperation with virtual force feedback.- Teleoperated sensing by grasping: Robot sensors and human psychophysics.- Task sharing and intervention in human-robot cooperating systems.- Coarse-fine motion coordination and control of a teleoperation system with magnetically levitated master and wrist.- Autonomous navigation in natural environments.- A unified approach to planning, sensing and navigation for mobile robots.- Combining physical and geometric models to plan safe and executable motions for a rover moving on a terrain.- Autonomous walking in natural terrain: A retrospective on the performance of the ambler.- Development of a reactive mobile robot using real time vision.- Mobile robot miniaturisation: A tool for investigation in control algorithms.- Experimental investigations of sensor-based surface following tasks by a mobile manipulator.- Configuration-dependent controllability of flexible manipulators.- Point to point learning control of a two-link flexible arm.- Space robotics research activity with Experimental Free-Floating Robot Satellite (EFFORTS) simulators.- ROTEX — The first space robot technology experiment.