Experimental Robotics I The First International Symposium Montreal, June 19–21, 1989

The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers have gone through.

Theory and experiments in selecting mode shapes for two-link flexible manipulators.- Limitations of linear identification and control techniques for flexible robots with nonlinear joint friction.- A simple juggling robot: Theory and experimentation.- Passive dynamic running.- Cooperative and learning control for complex robot systems.- Asymmetric hybrid control of positions and forces of a dual arm robot to share loads.- Dynamic hybrid position/force control of robot manipulators: On-line estimation of unknown constraint.- Hidden Markov Model analysis of force/torque information in telemanipulation.- Adaptation to environment stiffness in the control of manipulators.- Experimental studies of adaptive manipulator control.- Control of machines with non-linear, low-velocity friction: A dimensional analysis.- Experimental results on adaptive friction compensation in robot manipulators: low velocities.- Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications.- High-speed digital controller for magnetic servo levitation of robot mechanisms.- Hybrid position force control of robot manipulator with an instrumented compliant wrist.- Design and development of torque-controlled joints.- On a unified concept for a new generation of light-weight robots.- Experimental simulation of manipulator base compliance.- An experimental system for incremental environment modelling by an autonomous mobile robot.- The modelling system PYRAMIDE as an interactive help for the guidance of the inspection vehicle CENTAURE.- Experiments and theory with a 0.5 ton mobile robot.- Planning and executing sensory based grasping operations in a partially known environment.- Visual servoing based on a task function approach.- Video-rate visual servoing for robots.- Interpretation of mechanical properties of soft tissues from tactile measurements.- Determination of manipulator contact information from joint torque measurements.- Using tactile data for real-time feedback.- Approximate calculation of robot inverse kinematics applied to arc welding.- Modelling and control of a modular, redundant robot manipulator.- Identification and calibration of the geometric parameters of robots.- Closed-loop kinematic calibration of the Utah-MIT hand.- Robot calibration using least-squares and polar-decomposition filtering.- Compliant sliding of a block along a wall.- Planning movement for two PUMA manipulators holding the same object.- Trajectories of human multi-joint arm movements: Evidence of joint level planning.