Robot motion and control : recent developments ; [twenty five original works have been selected out of 53 papers presented at the Fourth International Workshop on Robot Motion and Control (RoMoCo'04) which was held in Puszczykowo, Poland during four days

__Robot Motion and Control__ presents very recent results in robot motion and control. Twenty papers have been chosen and expanded from fifty-three presented at the Fourth International Workshop on Robot Motion and Control held in Poland in June 2004. 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. 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 I-XV Front Matter....Pages 1-1 Trajectory Tracking for Nonholonomic Vehicles....Pages 3-23 Posture Stabilization of a Unicycle Mobile Robot — Two Control Approaches....Pages 25-54 Trajectory Tracking Control for Nonholonomic Mobile Manipulators....Pages 55-71 Bases for Local Nonholonomic Motion Planning....Pages 73-84 On Drift Neutralization of Stratified Systems....Pages 85-96 Front Matter....Pages 97-97 Novel Adaptive Control of Partially Modeled Dynamic Systems....Pages 99-111 Example Applications of Fuzzy Reasoning and Neural Networks in Robot Control....Pages 113-127 Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path....Pages 129-139 Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs....Pages 141-152 Flexible Robot Trajectory Tracking Control....Pages 153-163 Modeling, Motion Planning and Control of the Drones with Revolving Aerofoils: an Outline of the XSF Project....Pages 165-177 Front Matter....Pages 179-179 Absolute Orientation Estimation for Observer-based Control of a Five-link Walking Biped Robot....Pages 181-199 Biologically Inspired Motion Planning in Robotics....Pages 201-219 Control of an Autonomous Climbing Robot....Pages 221-232 Computation of Optimum Consumption of Energy for Anthropomorphic Robot Driven by Electric Motor....Pages 233-241 Front Matter....Pages 243-243 Real-Time Motion Planning and Control in the 2005 Cornell RoboCup System....Pages 245-263 Transition-Function Based Approach to Structuring Robot Control Software....Pages 265-286 Steps Toward Derandomizing RRTs....Pages 287-300 Tracking Methods for Relative Localisation....Pages 301-313 Robot Localisation Methods Using the Laser Scanners....Pages 315-332 Front Matter....Pages 333-333 Complex Control Systems: Example Applications....Pages 335-350 Examples of Transillumination Techniques Used in Medical Measurements and Imaging....Pages 351-364 Telerobotic Simulator in Minimally Invasive Surgery....Pages 365-373 Human-robot Interaction and Robot Control....Pages 375-390 On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics....Pages 391-404 Back Matter....Pages 406-407