By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)
This quantity offers a special selection of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic keep watch over. quite a few his learn is mirrored during this ebook, along with contributions from prime specialists within the box, who've additionally been heavily linked to Suguru Arimoto at quite a few phases in his extraordinary profession. The publication is construct round issues: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like routine nevertheless. those subject matters outlined a lot of Arimoto’s examine within the box of robotic regulate and are the cornerstones of his conception of human robotics. themes coated within the e-book deal with normal movement and adaptive keep an eye on of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, man made potentials for nonholonomic structures, strength keep an eye on of haptic units and muscle-activated structures, modeling and research of human-like events in attaining and greedy projects. every one bankruptcy is self-contained and treats the topic cohesively and intensive. This quantity will offer an incredible reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.
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Extra resources for Advances in Robot Control: From Everyday Physics to Human-Like Movements
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The kinematic singularity at the intersection is a regular point singularity. Simulation data are shown in Fig. 2. The x − y graph in the lower left part of the ﬁgure shows the workspace boundary (the full circle) and the path described by the end-tip (the circular arc). Note that the q∗ speed graph is actually the graph of determinant det J . After about 3 s, change of its sign is observed which indicates motion through the kinematic singularity at the intersection point between workspace boundary and end-tip arc.