Robot motion and control 2009 : [... papers submitted to the Seventh International Workshop on Robot Motion and Control (RoMoCo '09), Czerniejewo, Poland, June 1 to 3, 2009

Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields. Front Matter....Pages - Front Matter....Pages 1-1 Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs....Pages 3-12 Identification of a UAV Model for Control....Pages 13-22 Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input....Pages 23-34 Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation....Pages 35-44 Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis....Pages 45-56 Trajectory Tracking for Formation of Mobile Robots....Pages 57-66 Front Matter....Pages 67-67 Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam....Pages 69-81 Application of the Return Method to the Steering of Nonlinear Systems....Pages 83-91 Application of Robust Fixed Point Transformations for Technological Operation of Robots....Pages 93-101 Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems....Pages 103-112 Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications....Pages 113-122 Combinatorial Control Systems....Pages 123-132 Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation....Pages 133-142 Front Matter....Pages 143-143 Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges....Pages 145-154 Adaptation of a Six-legged Walking Robot to Its Local Environment....Pages 155-164 Development of Two-legged Robot....Pages 165-173 Quadruped Walking Robot WR-06 – Design, Control and Sensor Subsystems....Pages 175-184 Population-based Methods for Identification and Optimization of a Walking Robot Model....Pages 185-195 Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot....Pages 197-206 Front Matter....Pages 207-207 Human-aware Interaction Control of Robot Manipulators Based on Force and Vision....Pages 209-225 Front Matter....Pages 207-207 Specification of Multi-robot Controllers on an Example of a Haptic Device....Pages 227-242 Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators....Pages 243-253 Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robotic Hands....Pages 255-264 Compliant Motion Control for Safe Human Robot Interaction....Pages 265-274 Front Matter....Pages 275-275 Nonholonomic Motion Planning of Mobile Robots....Pages 277-286 Minimum-time Velocity Planning with Arbitrary Boundary Conditions....Pages 287-296 Motion Planning for Highly Constrained Spaces....Pages 297-306 RRT-path – A Guided Rapidly Exploring Random Tree....Pages 307-316 Front Matter....Pages 317-317 Position Estimation Techniques for Mobile Robots....Pages 319-328 Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry....Pages 329-338 Observable Formulation SLAM Implementation....Pages 339-348 Estimation of Velocity Components Using Optical Flow and Inner Product....Pages 349-358 Front Matter....Pages 359-359 Acoustic Coupling on the Robot Motion and Control....Pages 361-370 Design of a Planar High Precision Motion Stage....Pages 371-379 Hexa Platform as Active Environment System....Pages 381-390 A Modular Concept for a Biologically Inspired Robot....Pages 391-400 Control System for Designed Mobile Robot – Project, Implementation, and Tests....Pages 401-410 Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects....Pages 411-420 Front Matter....Pages 421-421 Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot....Pages 423-432 Tests on Cardiosurgical Robot RobIn Heart 3....Pages 433-442 Front Matter....Pages 421-421 Ankle Robot for People with Drop Foot – Case Study....Pages 443-452 Evolution of a Useful Autonomous System....Pages 453-462 Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT....Pages 463-472 Back Matter....Pages -