Experimental Robotics I The First International Symposium Montreal, June 19–21, 1989

The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers h...

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Bibliographic Details
Other Authors: Hayward, Vincent (Editor), Khatib, Oussama (Editor)
Format: eBook
Published: Berlin, Heidelberg Springer Berlin Heidelberg 1990, 1990
Edition:1st ed. 1990
Series:Lecture Notes in Control and Information Sciences
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications
  • High-speed digital controller for magnetic servo levitation of robot mechanisms
  • Hybrid position force control of robot manipulator with an instrumented compliant wrist
  • Design and development of torque-controlled joints
  • On a unified concept for a new generation of light-weight robots
  • Experimental simulation of manipulator base compliance
  • An experimental system for incremental environment modelling by an autonomous mobile robot
  • The modelling system PYRAMIDE as an interactive help for the guidance of the inspection vehicle CENTAURE
  • Experiments and theory with a 0.5 ton mobile robot
  • Planning and executing sensory based grasping operations in a partially known environment
  • Visual servoing based on a task function approach
  • Video-rate visual servoing for robots
  • Interpretationof mechanical properties of soft tissues from tactile measurements
  • Theory and experiments in selecting mode shapes for two-link flexible manipulators
  • Limitations of linear identification and control techniques for flexible robots with nonlinear joint friction
  • A simple juggling robot: Theory and experimentation
  • Passive dynamic running
  • Cooperative and learning control for complex robot systems
  • Asymmetric hybrid control of positions and forces of a dual arm robot to share loads
  • Dynamic hybrid position/force control of robot manipulators: On-line estimation of unknown constraint
  • Hidden Markov Model analysis of force/torque information in telemanipulation
  • Adaptation to environment stiffness in the control of manipulators
  • Experimental studies of adaptive manipulator control
  • Control of machines with non-linear, low-velocity friction: A dimensional analysis
  • Experimental results on adaptive friction compensation in robot manipulators: low velocities
  • Determination of manipulator contact information from joint torque measurements
  • Using tactile data for real-time feedback
  • Approximate calculation of robot inverse kinematics applied to arc welding
  • Modelling and control of a modular, redundant robot manipulator
  • Identification and calibration of the geometric parameters of robots
  • Closed-loop kinematic calibration of the Utah-MIT hand
  • Robot calibration using least-squares and polar-decomposition filtering
  • Compliant sliding of a block along a wall
  • Planning movement for two PUMA manipulators holding the same object
  • Trajectories of human multi-joint arm movements: Evidence of joint level planning