标题（title）：Advances in Motion Sensing and Control for Robotic Applications: Selected Papers from the Symposium on Mechatronics, Robotics, and Control (SMRC’18)- CSME International Congress 2018, May 27-30, 2018 Toronto, Canada
机器人应用的运动传感和控制进展：机电一体化、机器人学和控制研讨会论文选集（SMRC'18）-CSME国际会议，2018年5月27-30日，加拿大多伦多
作者（author）：Farrokh Janabi-Sharifi, William Melek
出版社（publisher）：Springer International Publishing
大小（size）：9 MB (9873298 bytes)
格式（extension）：pdf
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This book reports on advances in sensing, modeling and control methods for different robotic platforms such as multi-degree of freedom robotic arms, unmanned aerial vehicles and autonomous mobile platforms. Based on 2018 Symposium on Mechatronics, Robotics, and Control (SMTRC’18), held as part of the 2018 CSME International Congress, in York University, Toronto, Canada, the book covers a variety of topics, from filtering and state estimation to adaptive control of reconfigurable robots and more.
Next-generation systems with advanced control, planning, perception and interaction capabilities will achieve functionalities far beyond today’s technology. Two key challenges remaining for advanced robot technologies are related to sensing and control in robotic systems. Advanced perception is needed to navigate changing environments. Adaptive and intelligent control systems must be developed to enable operation in unstructured and dynamic environments. The selected chapters in this book focus on both of the aforementioned areas and highlight the main trends and challenges in robot sensing and control. The first part of the book introduces chapters which focus on advanced perception and sensing for robotics applications. They include sensor filtering and state estimation for bipedal robots and motion capture systems analysis. The second part focuses on different modeling and control methods for robotic systems including flight control for UAVs, multi-variable robust control for modular and reconfigurable robotics and control for precision micromanipulation.
Table of contents :
Front Matter ....Pages i-xiii
Sensor Filtering and State Estimation of a Fast Simulated Planar Bipedal Robot (Stefano Rossi, S. Andrew Gadsden)....Pages 1-13
Comparative Analysis of OptiTrack Motion Capture Systems (Joshua S. Furtado, Hugh H. T. Liu, Gilbert Lai, Herve Lacheray, Jason Desouza-Coelho)....Pages 15-31
Online Tuning Rule Based Adaptive Speed Control Algorithm for DC Motors Using Recursive Least Squares with Forgetting (Kwangseok Oh, Jaho Seo)....Pages 33-44
Propeller Performance in Presence of Freestream: Applications in Modeling Multirotor UAVs (Mojtaba Hedayatpour, Mehran Mehrandezh, Farrokh Janabi-Sharifi)....Pages 45-60
Robust Cooperative Close Formation Flight Control of Multiple Unmanned Aerial Vehicles (Qingrui Zhang, Hugh H. T. Liu)....Pages 61-74
Dry Surface Micromanipulation Using an Untethered Magnetic Microrobot (Omid Youssefi, Eric Diller)....Pages 75-91
Sliding Mode Control Design of a Two-Wheel Inverted Pendulum Robot: Simulation, Design and Experiments (Mikail S. Arani, Hamid Ebrahimi Orimi, Wen-Fang Xie, Henry Hong)....Pages 93-107
Decentralized Model Reference Adaptive Control Design for Modular and Reconfigurable Robots (Gokhan Gungor, Baris Fidan, William W. Melek)....Pages 109-125
Back Matter ....Pages 127-127
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