Robot motion and control 2007 : [forty one original works have been selected out of 60 papers submitted to the Sixth International Workshop on Robot Motion and Control (RoMoCo'07) Bukowy Dworek, Poland, June 11 to 13, 2007

Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field. Contents......Page 7 Introduction......Page 21 Kinematics......Page 22 Dynamics......Page 24 Trajectory Generation......Page 27 Trim Trajectory Characterization......Page 28 Trim Trajectories Calculation......Page 30 Simulation Results......Page 32 Circular Trim Trajectories with Constant Altitude......Page 33 Helicoidal Trim Trajectories......Page 35 Under-Actuation at Low Velocity......Page 36 Results for the Normalized Time......Page 41 References......Page 44 Introduction......Page 47 Modelling of Quadrotor......Page 48 Optimal Control (LQR)......Page 50 LQR with Gain Scheduling......Page 51 Feedback Linearization......Page 52 Simulations......Page 53 References......Page 55 Introduction......Page 57 Spacecraft Model......Page 58 Plant Stabilization......Page 59 PID Controller Design for the Stabilized Plant......Page 61 Internal Model Control – System Operation......Page 62 Simulation Results......Page 64 References......Page 65 Introduction......Page 67 Modelling......Page 68 Simulation Results......Page 72 References......Page 73 Introduction......Page 75 Problem Formulation......Page 76 Skid Phenomenon......Page 77 VFO Strategy – Brief Recall......Page 78 VFO Control with Skid Compensation......Page 79 Simulation Results......Page 82 References......Page 84 Introduction......Page 85 Vision System......Page 86 Initial Velocity Field Generation......Page 88 Dynamic Velocity Field Modification......Page 90 Results......Page 91 References......Page 94 Introduction......Page 96 Mapping Contour Deformations to Camera Motions......Page 97 Generating Zoom Demands......Page 99 Experimental Results......Page 100 Conclusions and Future Work......Page 102 References......Page 103 Introduction......Page 104 Visual Servoing with a Dynamic Set of SIFT Features......Page 105 Grasp Point Selection......Page 107 Experimental Results......Page 110 Conclusion......Page 112 References......Page 113 Introduction......Page 114 Local Perception Horizon and Trajectory Planning......Page 115 A Practical Approach to WMR with Monocular Image Data......Page 116 Image Perception and Physical Constraints......Page 117 Dynamic Models and Trajectory Control......Page 118 Conclusions......Page 120 References......Page 121 Introduction......Page 122 IDA-PBC for Underactuated Mechanical Systems......Page 123 PH Representation of Dynamics......Page 125 Applicability of IDA-PBC and Derivation of Control Law......Page 126 Numerical Experiments......Page 128 Conclusions......Page 129 References......Page 130 Introduction......Page 131 Mathematical Description of the System......Page 132 The New Control Algorithm......Page 133 References......Page 145 Introduction......Page 148 The Considered Dynamical Model......Page 149 A Discrete-Time Sliding Mode Control Approach......Page 150 An Alternative Discrete-Time Sliding Mode Control Approach......Page 152 The Considered Industrial Rob ot......Page 154 Experimental Results......Page 155 References......Page 156 Introduction......Page 158 First-Order Equations of Motion Containing GVC......Page 159 Velocity Tracking Controller Using GVC......Page 160 Simulation Results......Page 164 Concluding Remarks......Page 165 References......Page 166 Introduction......Page 167 Simple Iterative Approaches......Page 169 Novel Iterative Approaches for SISO Systems......Page 171 The Mathematical Model of the Cart – Pendulum System and Simulation Results......Page 172 Conclusion......Page 174 References......Page 175 Introduction......Page 177 New Method of Actuating Hyper-Redundant Robots......Page 178 Modeling Magnetic Clutch-Based Actuators......Page 180 Controller Design, Simulation and Experiments......Page 183 Conclusions......Page 184 References......Page 185 Introduction......Page 187 Mixed Reality Bond Graphs......Page 188 Distributed Mixed Reality Haptic Ball Manipulator......Page 189 References......Page 194 Mapping and Localization......Page 195 Trajectory Tracking......Page 197 Mobile Robot Navigation Through Gates......Page 198 Problem Description......Page 199 Gate Identification Procedure and Signature Concept......Page 200 Experimental Procedure......Page 205 Control System......Page 210 Results and Discussion......Page 211 Conclusions......Page 214 References......Page 215 Introduction......Page 217 Main Idea......Page 218 Kinematic Motion Patterns......Page 219 Examples......Page 222 References......Page 224 Introduction......Page 226 Kinematic Control of Redundant Manipulator......Page 227 Tackling the Problem of Manipulator Singularity......Page 230 Computer Example......Page 231 Conclusions......Page 232 References......Page 233 Introduction and Related Work......Page 234 Preliminaries: Particle Filter......Page 236 Definition of Features and Other Parameters......Page 237 Statistical Analysis and Bootstrap Feature Selection......Page 238 Measurement Update......Page 240 Model Extraction and Results Updates......Page 241 Conclusion and Future Work......Page 242 References......Page 243 Introduction......Page 245 Simulator......Page 246 Laser Range-Finder Model......Page 247 Integrating the Global Map with the Local Map......Page 249 Results......Page 251 References......Page 252 Introduction......Page 253 Preliminaries......Page 255 The Algorithm......Page 256 Simulation Results......Page 259 References......Page 261 Introduction......Page 263 Kinematic Model and Problem Formulation......Page 264 Nonholonomic Steering Towards a Desired Target......Page 265 Obstacle Detection and Avoidance......Page 266 Simulation Results......Page 268 References......Page 271 Introduction......Page 273 The Newton Algorithm......Page 274 Simultion Results......Page 278 References......Page 281 Introduction......Page 282 Dynamics of Mobile Manipulator with Nonholonomic Platform......Page 283 Control Problem Statement......Page 285 Path Following for the Platform......Page 286 Kinematic Controller – Pomet Algorithm......Page 287 ath Following for the Manipulator......Page 289 Dynamic Controller......Page 290 Simulation Study......Page 292 Conclusions......Page 294 References......Page 295 Introduction......Page 296 Koala: Therapeutic Ball- obot......Page 297 Virtual Koala and Sensory Signals Modelling......Page 299 Implementation Issues......Page 301 Conclusions......Page 302 References......Page 303 Introduction......Page 304 Rehabilitation Training Support System......Page 305 3D Force Display Robot......Page 306 Control Algorithm of Resistance Training......Page 307 Control Algorithm Simulating Sanding Training......Page 308 Teaching/ raining Function Algorithm......Page 309 References......Page 311 Presentation of Wheeeler......Page 312 The Main Concept......Page 313 Distributed Controllers......Page 314 Short Review......Page 315 CORBA Implementation......Page 316 Simulation Time and Real Time Considerations......Page 318 References......Page 319 Introduction......Page 320 Hexapod......Page 321 Quadruped......Page 322 New Control System......Page 324 Experiments......Page 325 Conclusions......Page 326 References......Page 327 Introduction......Page 328 Previous Localization Technique......Page 330 Enhanced Localization Algorithm......Page 331 Kalman Filtering and ROI Extraction......Page 333 Stationary Sound Sources......Page 334 Moving Sound Sources......Page 337 Conclusion......Page 338 References......Page 339 Introduction......Page 340 The Humanoid Robot ROMAN......Page 341 Upper Body......Page 342 Artificial Eyes......Page 344 Robot Control Architecture......Page 345 References......Page 347 Introduction......Page 348 Upper Arm Orthotic – Mobile Mount......Page 349 Master/Interface Unit......Page 350 Control System......Page 351 Upper Arm Orthotic – Stationary Mount......Page 352 Power-Assist in Human Worn Assistive Devices......Page 353 Virtual Prototyping......Page 354 Conclusion......Page 355 References......Page 356 Introduction......Page 357 Chassis Structure......Page 358 Supporting Frame and Suspension......Page 359 Control System Concept and Implementation......Page 360 On-Board Controller......Page 363 Energy Distribution Module......Page 365 References......Page 366 Introduction......Page 367 Communication System – Hardware Layer......Page 368 Measurement System......Page 369 Vision System for Inspection and Navigation......Page 372 Localization of the Duct Inspection Robot with Use of the Vision System......Page 373 References......Page 376 Introduction......Page 377 System......Page 378 Robot......Page 379 Control Architecture: UCoM(Universal Controller Module)......Page 380 Hybrid Impedance Control......Page 381 Sensors......Page 382 Integration and Results......Page 383 References......Page 384 Introduction......Page 386 The Basic Assumptions Related to Path Planning......Page 387 References......Page 393 Introduction......Page 395 Robot Controller......Page 397 Position-Force Control......Page 399 The Gripper and Its Sensors......Page 401 Effector Controller......Page 402 Experiments......Page 404 Conclusions......Page 405 References......Page 406 Introduction......Page 408 Related Work......Page 409 The Algorithm......Page 410 Weighted Tree Clearing......Page 411 Discussion and Conclusion......Page 414 References......Page 415 Problem Statement......Page 417 Discretization of Robot Motion Processes......Page 419 DFSA Model of Distributed High-Level Control......Page 421 Coordination of Multiple Robot Motion......Page 423 Deadlock Avoidance......Page 424 References......Page 425 Introduction......Page 427 The Traffic Model......Page 428 Urban Traffic Control......Page 429 Path Planning Algorithms for Vehicles......Page 431 References......Page 433 Introduction and Overview......Page 435 Robocup F-180 Small Size League......Page 436 Existing Infrastructure......Page 437 Wireless Dissemination of Time Signal......Page 438 Results of First Test Run......Page 439 Techniques for Improvement......Page 440 References......Page 441 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