RAMSETE. Articulated and mobile robotics for services and technologies
Articulated roboticsautonomous decisionco-operating armscontactcoordinationgraspingimpactimplementationlocalizationMobile roboticsmultiarm systemsplanningRAMSETEsensor fusiontactile sensingtechnology
Collections of articles of miscellaneous specific interest (00B15) Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15) Proceedings, conferences, collections, etc. pertaining to systems and control theory (93-06) Automated systems (robots, etc.) in control theory (93C85)
The aim of this ``Lecture Note in Control and Information Sciences, containing contributions from several authors who took part in the Italian research project ``RAMSETE from 1999-2000, is the consideration of implementation aspects related to major robotic subsystems, i.e. both technology structures and specific methodologies. In particular, contributions are given to the problems of integration of functions and autonomous decision capabilities of articulated robots, such as the control of co-operating arms, their interaction with the environment (contact and impact phenomena), as well as the integration of functions and autonomous decision capabilities of mobile robots, such as those related to localization, planning of tasks and motion, and motion control. In addition, the following factors are examined: hardware/software architectures for computation and control, availability of advanced actuators and sensor systems. In detail, the following articles are contained in this book: Strategies for Control and Coordination within Multiarm Systems; Modelling and Control of Servomechanismus; Robotic Grasping and Manipulation; Tactile Sensing for Robotic Manipulation; On Control of Flexible Robots; Interaction Control; Impact Modelling and Control of Robotic Links; Control of Wheeled Mobile Robots: An Experimental Overview; Landmark Recognition in Indoor Navigation by Fuzzy Maps and CBR; Sensor Fusion for Robot Localization.
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