Main description:

This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Contents:

Human Robotics: A Vision and A Dream.- Human Robotics: A Vision and A Dream.- From Everyday Physics to Robot Control.- Natural Motion and Singularity-Consistent Inversion of Robot Manipulators.- Approximate Jacobian Control for Robot Manipulators.- Adaptive Visual Servoing of Robot Manipulators.- Orthogonalization Principle for Dynamic Visual Servoing of Constrained Robot Manipulators.- Passivity-Based Control of Multi-Agent Systems.- Navigation Functions for Dynamical, Nonholonomically Constrained Mechanical Systems.- Planning and Control of Robot Motion Based on Time-Scale Transformation.- From Robot Control to Human-Like Movements.- Modularity, Synchronization, and What Robotics May Yet Learn from the Brain.- Force Control with A Muscle-Activated Endoskeleton.- On Dynamic Control Mechanisms of Redundant Human Musculo-Skeletal System.- Principle of Superposition in Human Prehension.- Motion Planning of Human-Like Movements in the Manipulation of Flexible Objects.- Haptic Feedback Enhancement Through Adaptive Force Scaling: Theory and Experiment.- Learning to Dynamically Manipulate: A Table Tennis Robot Controls a Ball and Rallies with a Human Being.