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Advances in Control of Articulated and Mobile Robots

  • Book
  • © 2004

Overview

Editors:
  1. Bruno Siciliano
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  2. Claudio Melchiorri
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  3. Alessandro Luca
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  4. Giuseppe Casalino
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  • Provides new insights in the field of anthropic robots and locomotion
  • A reliable and authoritative source of information for robotic researchers and developers
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 10)

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Table of contents (10 chapters)

  1. Front Matter

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  2. Planning Motions for Robotic Systems Subject to Differential Constraints

    • Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli, Stefano Iannitti
    Pages 1-38

  3. Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay

    • Paolo Arcara, Claudio Melchiorri
    Pages 39-60

  4. Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators

    • Federico Morabito, Salvatore Nicosia, Andrew R. Teel, Luca Zaccarian
    Pages 61-85

  5. Model-Based Friction Compensation

    • Gianni Ferretti, Gianantonio Magnani, Paolo Rocco
    Pages 87-100

  6. Architectures for Rapid Prototyping of Model-Based Robot Controllers

    • Basilio Bona, Marina Indri, Nicola Smaldone
    Pages 101-123

  7. Real-Time Visual Tracking of 3D-Objects

    • Fabrizio Caccavale, Vincenzo Lippiello, Bruno Siciliano, Luigi Villani
    Pages 125-151

  8. RTLinux-Based Controller for the SuperMARIO Mobile Robot

    • Claudio Bellini, Stefano Panzieri, Federica Pascucci, Giovanni Ulivi
    Pages 153-169

  9. Coordination and Control of Multiarm Nonholonomic Mobile Manipulators

    • Giuseppe Casalino, Alessio Turetta
    Pages 171-190

  10. Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot

    • Andrea Boncvi, Gianluca Ippoliti, Leopoldo Jetto, Tommaso Leo, Sauro Longhi
    Pages 191-222

  11. On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles

    • Antonio Bicchi, Federico Lorussi, Pierpaolo Murrieri, Vincenzo Scordio
    Pages 223-242

  12. Back Matter

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Keywords

About this book

This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

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