Advances in Robot Control: From Everyday Physics to Human-Like Movements

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Sadao Kawamura, Mikhail Svinin
Springer Science & Business Media, Jul 17, 2007 - Technology & Engineering - 328 pages
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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.
 

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Contents

A Vision and A Dream
1
Approximate Jacobian Control for Robot Manipulators
34
Adaptive Visual Servoing of Robot Manipulators
55
Orthogonalization Principle for Dynamic Visual Servoing
83
PassivityBased Control of MultiAgent Systems
106
Navigation Functions for Dynamical Nonholonomically
135
Planning and Control of Robot Motion Based on TimeScale
157
From Robot Control to HumanLike Movements
179
Force Control with A MuscleActivated Endoskeleton
201
On Dynamic Control Mechanisms of Redundant Human
217
Principle of Superposition in Human Prehension
249
Motion Planning of HumanLike Movements in
262
Haptic Feedback Enhancement Through Adaptive Force
293
A Table Tennis Robot
317
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