Held from 3-5 September 1997 in Nantes, France, this was the fifth of the IFAC series of triennial Symposia on Robot Control. The final selection lead to 126 papers (from 200 submissions) in the Technical Program. This consisted of 33 sessions disposed in 3 parallel tracks and brought together contributions from 298 leading researchers. The papers covered a range of topics relevant to the field of robot control, including modelling and identification, force and compliance control, robot control techniques, vision control, grasp control, flexible robots, non holonomic robotic systems, walking robots, control design and architectures, teleoperation, and underwater robots. The Symposium featured three invited plenary speakers: Professor Steven Dubowsky, from Massachusetts Institute of Technology presented a lecture entitled 'A perspective of the advancement of robotic systems during the past 15 years'; Professor Shanakr Sastry, from the University of California, presented a lecture entitled 'Air Traffic Management Systems: at the intersection of Control Theory and Robotics'; and Professor Friedrich Pfeiffer, from the Technical University of München, presented a lecture entitled 'Robots with unilateral constraints'.
Researchers and practitioners with an interest in the field of robot control
Table of Contents
Selected chapter headings and selected papers: Plenary Paper I. A perspective of the advancement of robotic systems during the past 15 years (S. Dubowsky). Mobile Robots I. Trajectory estimation and correction for a wheeled mobile robot using heterogeneous sensors and kalman filter (A. Santini et al.). Flexible Manipulators I. Geometric modeling of flexible manipulators with large elastic displacements and rotations (F. Boyer, W. Khalil). Walking Robots I. Control of a quadruped walking robot without feet for a gallop gait (B. Perrin et al.). Parameters Identification. Robot, tool and workcell calibration: the keys to fully integrate off-line programming (F. Geuens et al.). Sliding Control. Design of PID robot controllers via VSS approach (R. Gorez et al.). Force Control I. Adaptive force-position control for constrained robotic manipulators (H. Kawasaki, Y. Ohka). Manipulators Control I. Fuzzy control of a pneumatic actuator (R. Caracciolo et al.). Underwater Robots. Robust Lyapunov-based design for autonomous underwater vehicles (G. Conte, A. Serrani). Parallel Manipulators. Autonomous calibration of parallel robots (W. Khalil, D. Murareci). Vision Control. Two 3D recovering methods for robot control (G. Moreau et al.). Trajectory Generation. A circle tracking method for nonholonomic vehicles (Y.J. Kanayama, F. Fahroo). Teleoperation. Issues on Internet based teleoperation (R. Oboe, P. Fiorini). Constraint Control I. Model-based optimization of process dynamics in robotic manipulators (G. Prokop, F. Pfeiffer). Kinematics. Mixed control laws applied to multi-chain systems. Example of pedaling task (B. Barbedette, J.-P. Mariot). Modelling and Architecture. New factorization techniques and fast serial and parallel algorithms for operational space control of robot manipulators (A. Fijany et al.). Author index.