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Advances in Robot Control

From Everyday Physics to Human-Like Movements

  • Book
  • © 2006

Overview

Editors:
  1. Sadao Kawamura

    1. Robotics Department Faculty of Engineering, Ritsumeikan University Kusatsu, Shiga, Japan

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  2. Mikhail Svinin

    1. RIKEN Anagahora Shimoshidam Moriyama-Ku, Bio-Mimetic Control Research Center, Nagoya, Japan

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  • High quality survey volume on robot control theory
  • Dedicated to Suguru Arimoto, Ritsumeikan University, Japan, who is turning 70 next year and has been one of the major contributors in this area

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Table of contents (15 chapters)

  1. Front Matter

    Pages I-XXXII
    Download chapter PDF

  2. Human Robotics: A Vision and A Dream

    1. Human Robotics: A Vision and A Dream

      • Suguru Arimoto
      Pages 1-5

  3. From Everyday Physics to Robot Control

    1. Front Matter

      Pages I-XXXII
      Download chapter PDF

    2. Natural Motion and Singularity-Consistent Inversion of Robot Manipulators

      • Dragomir N. Nenchev
      Pages 9-33

    3. Approximate Jacobian Control for Robot Manipulators

      • Chien Chern Cheah
      Pages 35-53

    4. Adaptive Visual Servoing of Robot Manipulators

      • Yun-Hui Liu, Hesheng Wang
      Pages 55-82

    5. Orthogonalization Principle for Dynamic Visual Servoing of Constrained Robot Manipulators

      • Vicente Parra-Vega, Emmanuel Dean-Leon
      Pages 83-105

    6. Passivity-Based Control of Multi-Agent Systems

      • Nikhil Chopra, Mark W. Spong
      Pages 107-134

    7. Navigation Functions for Dynamical, Nonholonomically Constrained Mechanical Systems

      • Gabriel A. D. Lopes, Daniel E. Koditschek
      Pages 135-155

    8. Planning and Control of Robot Motion Based on Time-Scale Transformation

      • Sadao Kawamura, Norimitsu Sakagami
      Pages 157-178

  4. From Robot Control to Human-Like Movements

    1. Front Matter

      Pages I-XXXII
      Download chapter PDF

    2. Modularity, Synchronization, and What Robotics May Yet Learn from the Brain

      • Jean-Jacques Slotine
      Pages 181-200

    3. Force Control with A Muscle-Activated Endoskeleton

      • Neville Hogan
      Pages 201-216

    4. On Dynamic Control Mechanisms of Redundant Human Musculo-Skeletal System

      • Kenji Tahara, Zhi-Wei Luo
      Pages 217-247

    5. Principle of Superposition in Human Prehension

      • Mark L. Latash, Vladimir M. Zatsiorsky
      Pages 249-261

    6. Motion Planning of Human-Like Movements in the Manipulation of Flexible Objects

      • Mikhail Svinin, Igor Goncharenko, Shigeyuki Hosoe
      Pages 263-291

    7. Haptic Feedback Enhancement Through Adaptive Force Scaling: Theory and Experiment

      • Jaydeep Roy, Daniel L. Rothbaum, Louis L. Whitcomb
      Pages 293-316

    8. Learning to Dynamically Manipulate: A Table Tennis Robot Controls a Ball and Rallies with a Human Being

      • Fumio Miyazaki, Michiya Matsushima, Masahiro Takeuchi
      Pages 317-341
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Keywords

About this book

Robotics is still a young science, but we can already identify the people who de?ned its primary course of development. Suguru Arimoto is one of them. His early works laid the foundations of what nowadays is called modern robot control, and we believe it is both appropriate and necessary to write a book on recent advances in this ?eld in the context of his scienti?c interests. While presenting recent advances in robot control is the main intention of this book, we also think it is appropriate to highlight Suguru Arimoto’s research career, main scienti?c achievements, and his personality, too. This can be very inspiring and instructive, especially for young researchers. What are the most remarkable features of Suguru Arimoto? On the p- sonal side, his vitality is striking. He is always focused on a research target, and it is always a fun and a pleasure to discuss with him scienti?c pr- lems and to learn from him. His passion to explain things that might not appear obvious is endless. It is very encouraging to younger researchers that, at this stage of his career, he is still a very active, approachable, and in?u- tial researcher, and a person who leads by example. On the scienti?c side, we should stress his research philosophy. He believes that the ?nal result should be simple and have a clear physical (or physiological, in his recent research) interpretation.

Editors and Affiliations

  • Robotics Department Faculty of Engineering, Ritsumeikan University Kusatsu, Shiga, Japan

    Sadao Kawamura

  • RIKEN Anagahora Shimoshidam Moriyama-Ku, Bio-Mimetic Control Research Center, Nagoya, Japan

    Mikhail Svinin

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