Experimental Robotics V
The Fifth International Symposium Barcelona, Catalonia, June 15-18, 1997
Published on 25. March 1998
Book
Paperback/Softback
XIX, 700 pages
978-3-540-76218-8 (ISBN)
Description
Experts in the field of experimental robotics come together in this book to share the results of their most recent research projects. Both theoretical ideas and advances with practical applications are discussed, In particular, state-of-the-art research in fascinating areas such as underwater environments, civil engineering, space and medicine is focused upon. Research aimed at improving methodologies and techniques in robot control, programming and planning shows the way to improve the use of robots for complex problems. Techniques for human-robot co-operation are also looked at - there are a number of areas in which combining the intelligence and adaptability of humans and the accuracy and reliability of robots can have remarkable results. This book will enable readers to update their knowledge of experimental robotics and find out, particularly, about the research that has been going on over the last two years and the research that is likely to continue in the future.
More details
Series
Language
English
Place of publication
Heidelberg
Germany
Publishing group
Springer Berlin
Target group
Professional and scholarly
Illustrations
index
Dimensions
Height: 23.5 cm
Width: 15.5 cm
Weight
1080 gr
ISBN-13
978-3-540-76218-8 (9783540762188)
DOI
10.1007/BFb0112945
Schweitzer Classification
Content
Towards a new Robot Generation.- Towards evolution of experimental robotics.- Experimental approach on enveloping grasp for column objects.- DLR's multisensory articulated hand.- Mechanical design and control of a high-bandwidth shape memory alloy tactile display.- Toward dexterous gaits and hands.- Dexterous manipulations of humanoid Robot Saika.- Experiments of spatial impedance control.- Optimal control based skill development system for the kip.- Toward virtual sports with high speed motion.- A general contact model for dynamically-decoupled force/motion control.- Control of a rover-mounted manipulator.- Module-based architecture of world model for haptic virtual reality.- Haptic augmented simulation supporting teaching skill to robots.- Interactive visual and force rendering of human-knee dynamics.- Long distance outdoor navigation of an autonomous mobile robot by playback of perceived route map.- Etherbot - An autonomous mobile robot on a local area network radio tether.- Automatic mountain detection and pose estimation for teleoperation of lunar rovers.- A landmark-based motion planner for rough terrain navigation.- Evaluation of impedance and teleoperation control of a hydraulic mini-excavator.- Control of load sway in enhanced container handling cranes.- The design of ultra-high integrity navigation systems for large autonomous vehicles.- Modeling and control of a 3500 tonne mining robot.- Autonomous maneuvers of a nonholonomic vehicle.- How to implement dynamic paths.- From paths to trajectories for multi-body mobile robots.- Preliminary experiments with an actively tuned passive dynamic running robot.- ROBICEN: A pneumatic climbing robot for inspection of pipes and tanks.- Control of an eight legged pipe crawling robot.- Autonomous vehicle interaction with in-door environments.- An experimental system for automated paper recycling.- Positioning of the mobile robot LiAS with line segments extracted from 2D range finder data using total least squares.- Mobile robot localization based on efficient processing of sensor data and set-theoretic state estimation.- i.ARES manipulation subsystem.- Modeling of nonlinear friction in complex mechanisms using spectral analysis.- Development of the carpal robotic wrist.- First experiments with MIPS 1 (mini in-parallel positioning system).- Freedom-7: A high fidelity seven axis haptic device with application to surgical training.- Tele-micro-surgery: analysis and tele-micro-blood-vessel suturing experiment.- Active forceps for endoscopic surgery.- Synergistic robots in surgery-surgeons and robots working co-operatively.- Control experiments on two SMA based micro-actuators.- Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator.- Motion control of tendon driven robotic fingers actuated with DC torque motors: Analisys and experiments.- Experiments on a high performance hydraulic manipulator joint: Modelling for control.- Adaptive visual servoing for various kinds of robot systems.- Underwater hidrojet explorer camera controlled by vision.- Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator.- Distributed control of a free-floating underwater manipulation system.- Towards a reliable set-up for bio-inspired collective experiments with real robots.- Experiments in realising cooperation between autonomous mobile robots.- Self-reconfigurable robots for navigation and manipulation.- Human-robot interface system with robot group control for multiple mobile robot systems.- Exploration-based path-learning by a mobile robot on an unknown world.- An anthropomorphic model of sensory-motor co-ordination of manipulation for robots.- Extracting robotic part-mating programs from operator interaction with a simulated environment.- Modeling and learning robot manipulation strategies.