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7 Geometrical Parameter Estimation and CF Recognition
This chapter presents the estimator component of the autonomous compliant motion system (see Fig. 1.2). This component...
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3 Literature Survey: Bayesian Probability Theory
This chapter presents some basic aspects of Bayesian probability theory [21, 153]. First of all, the difference between Bayesian and classical...
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8 Experiment: A Cube-In-Corner Assembly
This chapter validates the theory of the previous chapters with an experiment. The experiment consists of the estimation of the geometrical...
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6. Kinematic Control of UVMSs
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic...
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6 Contact Modelling
This chapter describes the contact modelling for autonomous compliant motion assuming quasi-static, rigid, frictionless contacts. The contact models...
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E Partial Observation with the Kalman Filter
This appendix contains the proofs of Lemmas 7.1 and 7.2. These lemmas state that, for static systems, (i) a Kalman Filter can be run on only the...
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4 Kalman Filters for Nonlinear Systems
The Kalman Filter (KF) [137, 240] is a special case of Bayesian filtering theory. It applies to the estimation of a continuous-valued state x if the...
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Multi-knowledge Approach for Mobile Robot Identification of a Changing Environment
In this paper, a large environment is divided into sub-areas to enable a robot to apply precise localization technology efficiently in real time....
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In Situ Autonomous Biomechanical Characterization
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The...
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Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera
This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision...
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Representation, Recognition and Generation of Actions in the Context of Imitation Learning
The paper deals with the development of a cognitive architecture for learning by imitation in which a rich conceptual representation of the observed...
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11 Safety Evaluation Method of Rehabilitation Robots
An aged society comes soon. Human-care robots must be realized to nurse aged and disabled persons. Human-care robot will need to work around elderly...
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26 STRING-MAN: A Novel Wire Robot for Gait Rehabilitation
This paper presents a novel robotic prototype for advanced gait rehabilitation. This system integrates sophisticated robotic technology with control...
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RTLinux-Based Controller for the SuperMARIO Mobile Robot
In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating...
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Vision Based Motion Planning of Humanoid Robots
Vision is the most effective sensing form for humans in understanding their environment, recognition of the objects around them and navigating from...
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Fuzzy-Neural Impedance Control for Robots
In conventional impedance control, the difficulties encountered in obtaining an exact system dynamic model and selecting its impedance parameters...
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Evolution of Locomotion Controllers for Legged Robots
The construction of a locomotion controller for legged robots is a difficult and time consuming process. This task can be automated through the use...
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Robust Stability of Interval Lur’e Systems: A Bilinear Matrix Inequality Approach
This paper provides a sufficient condition for an interval Lur’e system to be globally exponentially stable with a dam** factor. The Lur’e system...
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Model-Based Friction Compensation
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for...
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Adaptive Robust Fuzzy Tracking Control for a Class of Nonlinear Systems
The tracking control problem for a class of nonlinear systems with uncertain system function and uncertain gain function, which are the unstructured...