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Experimental Robotics II

The 2nd International Symposium, Toulouse, France, June 25–27 1991

  • Conference proceedings
  • © 1993

Overview

Editors:
  1. Raja Chatila
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  2. Gerd Hirzinger
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 190)

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About this book

This was the second in a series of international symposia designed to circulate every two years around North America, Europe, and Asia. The objective is to present and discuss in depth the research results and current developments in Robotics. A broad spectrum of fields is presented in the papers, e.g. manipulator control, mobile robots, legged locomotion, perception and vision, and control architectures. The papers in the proceedings provide a unique combination of theoretical foundation and experimental validation. The editors have divided the text into ten sections with a synopsis by the editors, and containing four papers each.

Keywords

Table of contents (38 papers)

  1. Front Matter

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  2. The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments

    • Richard Volpe, Pradeep Khosla
    Pages 1-24

  3. Robot control in singular configurations — Analysis and experimental results

    • Stefano Chiaverini, Bruno Siciliano, Olav Egeland
    Pages 25-34

  4. Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results

    • M. Adams, J. Swevers, D. Torfs, J. De Schutter, H. Van Brussel
    Pages 35-48

  5. Adaptive and fault tolerant tracking control of a pneumatic actuator

    • B. W. McDonell, J. E. Bobrow
    Pages 49-58

  6. Experimental verification of human skill transfer to deburring robots

    • Haruhiko Asada, Sheng Liu
    Pages 59-77

  7. Learning of robotic assembly based on force information

    • Fumio Miyazaki, Koji Ide, Yasuhiro Masutani, D. S. Ahn
    Pages 78-88

  8. Model based implementation of a manipulation system with artificial skills

    • T. Ogasawara, K. Kitagaki, T. Suehiro, T. Hasegawa, K. Takase
    Pages 89-98

  9. A learning control system for an articulated gripper

    • P. Bidaud, D. Fontaine
    Pages 99-111

  10. Implementation of behavioral control on a robot hand/arm system

    • David L. Brock, J. Kenneth Salisbury
    Pages 113-135

  11. Mechanical and control issues for integration of an arm-hand robotic system

    • Claudio Melchiorri, Gabriele Vassura
    Pages 136-152

  12. Experimental evaluation of friction characteristics with an articulated robotic hand

    • Antonio Bicchi, J. Kenneth Salisbury, David L. Brock
    Pages 153-167

  13. Intelligent robot gripper for general purposes

    • H. -K. Scherrer, D. Vischer
    Pages 168-175

  14. A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery

    • Russell H. Taylor, Court B. Cutting, Yong-yil Kim, Alan D. Kalvin, David Larose, Betsy Haddad et al.
    Pages 177-195

  15. An experimental environment for task-level programming of robots

    • Gerhard Schrott
    Pages 196-206

  16. An architecture for task interpretation and execution control for intervention robots: Preliminary experiments

    • Raja Chatila, Rachid Alami, Bernard Degallaix, Victor Pérébaskine, Paul Gaborit, Philippe Moutarlier
    Pages 207-221

  17. A sensor-based telerobotic system for the space robot experiment ROTEX

    • G. Hirzinger, G. Grunwald, B. Brunner, J. Heindl
    Pages 222-238

  18. Towards real-time execution of motion tasks

    • Sean Quinlan, Oussama Khatib
    Pages 239-254

  19. Force control of a two-arm robot manipulating a deformable object

    • Xavier Delebarre, Eric Dégoulange, Pierre Dauchez, Yann Bouffard-Vercelli
    Pages 255-269

  20. A practical system for planning safe trajectories for manipulator robots

    • C. Bellier, C. Laugier, E. Mazer, J. Troccaz
    Pages 270-281
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