Control Problems in Robotics (Hardcover)

Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning.- From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories.- Control of Nonprehensile Manipulation.- Motion Planning and Control Problems for Underactuated Robots.- Motion Description Languages for Multi-Modal Control in Robotics.- Polynomial Design of Dynamics-based Information Processing System.- Actuation Methods For Human-Centered Robotics and Associated Control Challenges.- Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach.- Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots.- Toward the Control of Self-Assembling Systems.- Towards Abstraction and Control for Large Groups of Robots.- Omnidirectional Sensing for Robot Control.- A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer.- Visual Servoing Along Epipoles.- Toward Geometric Visual Servoing.- Vision-Based Online Trajectory Generation and Its Application to Catching.- Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties.