By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)
This quantity presents a different selection of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic keep watch over. a number of his study is mirrored during this publication, inclusive of contributions from top specialists within the box, who've additionally been heavily linked to Suguru Arimoto at a variety of phases in his exceptional occupation. The e-book is construct round subject matters: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like pursuits however. those subject matters outlined a lot of Arimoto’s learn within the box of robotic keep watch over and are the cornerstones of his conception of human robotics. subject matters lined within the booklet handle traditional movement and adaptive keep watch over of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, man made potentials for nonholonomic structures, strength keep watch over of haptic units and muscle-activated platforms, modeling and research of human-like events in achieving and greedy initiatives. every one bankruptcy is self-contained and treats the topic cohesively and extensive. This quantity will offer a massive reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.
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Extra info for Advances in Robot Control: From Everyday Physics to Human-Like Movements
Sooner or later I will step down and leave the playing list of active researchers, but I hope I will be able to enjoy your challenges from the gallery. References 1. Arimoto S (1996) Control Theory of Nonlinear Mechanical Systems: A PassivityBased and Circuit-Theoretic Approach. K. 2. ) (1988) The Artiﬁcial Intelligence Debate: False Starts, Real Foundations. MIT Press, Boston 3. Arimoto S (1999) Robotics research toward explication of everyday physics. The International Journal of Robotics Research 18(11):1056–1063 4.
This research introduced a new concept of the stability on a constraint manifold and showed how it can be used in the veriﬁcation of the grasping stability understood in a dynamic sense. T x = (x, y) y : Endpoint Virtual spring P0 P4 Virtual damper P3 l0 = ||x - xd|| P2 T xd = (xd, yd) : Target P1 x O Torque to generate Virtual spring effect Torque to generate Virtual damper effect Fig. 3. Spring/damper hypothesis for multi-joint reaching movements. All these taken together coincidentally led me to challenging the Bernstein problem of multi-joint reaching movements under redundant DOFs.
IEEE Int. Conf. on Robotics and Automation, Sacramento, California 2670–2675 32. Guckenheimer J, Holmes P (1986) Nonlinear Oscillations, Dynamical Systems, and Bifurcation of Vector Fields. New York, NY: Springer-Verlag New York Inc. 33. Nelson B, Khosla P (1995) Strategies for increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance. The International Journal of Robotics Research 14(3):255–269 34. Arimoto S, Miyazaki F (1984) Stability and robustness of PID feedback control for robot manipulators of sensory capability.
Advances in Robot Control: From Everyday Physics to Human-Like Movements by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)