Titlebook: Robot Motion and Control 2011; Krzysztof Kozłowski Conference proceedings 2012 Springer London 2012 Control Applications.Control Engineeri

儿童

Perception-Based Motion Planning for a Walking Robot in Rugged Terrains used to find a sequence of feasible movements for the body and feet of the robot on a more precise map obtained by using the Hokuyo laser rangefinder. A strategy for path planning is proposed. Experimental results which show efficiency of the algorithm are presented.

FLIP

Improving Accuracy of Local Maps with Active Haptic Sensingof the experiments with the sensors mentioned above are described. Then the active sensing concept is presented in detail. Next, an example of using the active perception system is demonstrated. At the end concluding remarks are given, followed by future work plans.

冒号

famine

Robust Control of Differentially Driven Mobile Platformsion of wheeled mobile platforms can be realized with or without slippage phenomenon. If no slippage effect between the wheels and the surface occurs, then there exists some equation describing forbidden directions of realized velocities of the system. Such a relationship is called the nonholonomic constraint in the platform’s motion.

ostensible

Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technile robot platform and is designed to carry ultrasonic sensors in order to scan welds for defects. The robot is equipped with a vision system in order to detect the weld position. A fuzzy control system is used in order to control robot motion along the weld.

较早

visual-cortex

Dynamic Position/Force Controller of a Four Degree-of-Freedom Robotic Legble to eliminate the negative effects of non-linear disturbances with a computed torque control approach, but also creates very smooth leg movements. An additional force feedback reduces the influences of leg collisions and is able to maintain a desired ground contact force during the stance phase.

商谈

与野兽博斗者

Indirect Linearization Concept through the Forward Model-Based Control System loops. A constant-parameter character of the proposed approach and the control structure based on the classic PID loops ensures intuitive synthesizing and provides an interesting alternative to feedforward systems or adaptive control methods. Theoretical assumptions have been verified by simulation on a single-joint robot manipulator.

IRATE