Essays on Mathematical Robotics [Hardcover]

The role of compliant fingerpads in grasping and manipulation: Identification and control.- Eventbased planning and control for robotic systems: Theory and implementation.- The kinematics of hyper-redundant robots.- Line-integral estimates and motion planning using the continuation method.- Kinematic path planning for robots with holonomic and nonholonomic constraints.- A general approach to path planning for systems without drift.- Discontinuous stabilization of Brocketts canonical driftless system.- On feedback linearization of robot manipulators and Riemannian curvature.- Averaging and energy methods for robust open-loop control of mechanical systems.- Exterior differential systems in control and robotics.The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around hyper-redundancy , highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops.