The Resource Essays on Mathematical Robotics, edited by John Baillieul, Shankar S. Sastry, Hector J. Sussmann, (electronic resource)

Essays on Mathematical Robotics, edited by John Baillieul, Shankar S. Sastry, Hector J. Sussmann, (electronic resource)

Label
Essays on Mathematical Robotics
Title
Essays on Mathematical Robotics
Statement of responsibility
edited by John Baillieul, Shankar S. Sastry, Hector J. Sussmann
Creator
Contributor
Subject
Genre
Language
eng
Summary
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. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems
Member of
Cataloging source
AU@
http://library.link/vocab/creatorName
Baillieul, J.
Dewey number
515.64
Index
no index present
LC call number
  • QA315-316
  • QA402.3
  • QA402.5-QA402.6
Literary form
non fiction
Nature of contents
dictionaries
http://library.link/vocab/relatedWorkOrContributorName
  • Sastry, Shankar S
  • Sussmann, Hector J
Series statement
The IMA Volumes in Mathematics and its Applications,
Series volume
104
http://library.link/vocab/subjectName
  • Mathematics
  • Systems theory
  • Mathematical optimization
Label
Essays on Mathematical Robotics, edited by John Baillieul, Shankar S. Sastry, Hector J. Sussmann, (electronic resource)
Link
http://dx.doi.org/10.1007/978-1-4612-1710-7
Instantiates
Publication
Antecedent source
file reproduced from original
Carrier category
online resource
Carrier category code
  • cr
Carrier MARC source
rdacarrier
Color
mixed
Content category
text
Content type code
  • txt
Content type MARC source
rdacontent
Contents
Foreword -- Preface -- The role of compliant fingerpads in grasping and manipulation: Identification and control -- Event-based 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 Brockett's 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
Dimensions
unknown
Extent
1 online resource (ix, 384 pages).
File format
unknown
Form of item
online
Isbn
9781461217107
Isbn Type
(electronic bk.)
Level of compression
uncompressed
Media category
computer
Media MARC source
rdamedia
Media type code
  • c
Other control number
10.1007/978-1-4612-1710-7
Quality assurance targets
unknown
Reformatting quality
access
Sound
unknown sound
Specific material designation
remote
System control number
  • (OCoLC)853270524
  • (OCoLC)ocn853270524
Label
Essays on Mathematical Robotics, edited by John Baillieul, Shankar S. Sastry, Hector J. Sussmann, (electronic resource)
Link
http://dx.doi.org/10.1007/978-1-4612-1710-7
Publication
Antecedent source
file reproduced from original
Carrier category
online resource
Carrier category code
  • cr
Carrier MARC source
rdacarrier
Color
mixed
Content category
text
Content type code
  • txt
Content type MARC source
rdacontent
Contents
Foreword -- Preface -- The role of compliant fingerpads in grasping and manipulation: Identification and control -- Event-based 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 Brockett's 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
Dimensions
unknown
Extent
1 online resource (ix, 384 pages).
File format
unknown
Form of item
online
Isbn
9781461217107
Isbn Type
(electronic bk.)
Level of compression
uncompressed
Media category
computer
Media MARC source
rdamedia
Media type code
  • c
Other control number
10.1007/978-1-4612-1710-7
Quality assurance targets
unknown
Reformatting quality
access
Sound
unknown sound
Specific material designation
remote
System control number
  • (OCoLC)853270524
  • (OCoLC)ocn853270524

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