Control problems in robotics and automation : [papers presented at the International Workshop on Control Problems in Robotics and Automation, Future Directions, held in San Diego, California, on December 9, 1997 in conjunction with the 36th IEEE Conferenc

Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century. Force Control : A Bird's Eye View / Joris De Schutter [and Others] -- Multirobots And Cooperative Systems / Masaru Uchiyama -- Robotic Dexterity Via Nonholonomy / Antonio Bicchi, Alessia Marigo, And Domenico Prattichizzo -- Control For Teleoperation And Haptic Interfaces / Septimiu E. Salcudean -- Recent Progress In Fuzzy Control / Feng-yih Hsu And Li-chen Fu -- Trajectory Control Of Flexible Manipulators / Alessandro De Luca -- Dynamics And Control Of Bipedal Robots / Yildirim Hurmuzlu -- Free-floating Robotic Systems / Olav Egeland And Kristin Y. Pettersen -- Underactuated Mechanical Systems / Mark W. Spong -- Trends In Mobile Robot And Vehicle Control / Carlos Canudas De Wit -- Vision-based Robot Control / Peter I. Corke And Gregory D. Hager -- Sensor Fusion / Thomas C. Henderson [and Others] -- Discrete Event Theory For The Monitoring And Control Of Robotic Systems / Brenan J. Mccarragher -- Scheduling Of Flexible Manufacturing Systems / Peter B. Luh -- Task Synchronization Via Integration Of Sensing, Planning, And Control In A Manufacturing Work-cell / Tzyh-jong Tarn, Mumin Song, And Ning Xi -- Advanced Air Traffic Automation : A Case Study In Distributed Decentralized Control / Claire J. Tomlin [and Others]. B. Siciliano And K.p. Valavanis (eds.). Includes Bibliographical References (p. ). Force control: A bird's eye view....Pages 1-17 Multirobots and cooperative systems....Pages 19-34 Robotic dexterity via nonholonomy....Pages 35-49 Control for teleoperation and haptic interfaces....Pages 51-66 Recent progress in fuzzy control....Pages 67-81 Trajectory control of flexible manipulators....Pages 83-104 Dynamics and control of bipedal robots....Pages 105-117 Free-floating robotic systems....Pages 119-134 Underactuated mechanical systems....Pages 135-150 Trends in mobile robot and vehicle control....Pages 151-175 Vision-based robot control....Pages 177-192 Sensor fusion....Pages 193-207 Discrete event theory for the monitoring and control of robotic systems....Pages 209-225 Scheduling of flexible manufacturing systems....Pages 227-243 Task synchronization via integration of sensing, planning, and control in a manufacturing work-cell....Pages 245-260 Advanced air traffic automation: A case study in distributed decentralized control....Pages 261-295