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Robot control

About: Robot control is a(n) research topic. Over the lifetime, 35264 publication(s) have been published within this topic receiving 578821 citation(s). The topic is also known as: robotic control.

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Book
01 Jun 1991-
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.

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Abstract: A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks.

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7,657 citations


Journal ArticleDOI
Rodney A. Brooks1Institutions (1)
01 Mar 1986-
Abstract: A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks.

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7,154 citations


Book
22 Mar 1994-
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

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6,238 citations


Book
01 Jan 1989-
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.

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Abstract: From the Publisher: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

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3,667 citations


Journal ArticleDOI
TL;DR: A betterment process for the operation of a mechanical robot in a sense that it betters the nextoperation of a robot by using the previous operation's data is proposed.

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Abstract: This article proposes a betterment process for the operation of a mechanical robot in a sense that it betters the next operation of a robot by using the previous operation's data. The process has an iterative learning structure such that the (k + 1)th input to joint actuators consists of the kth input plus an error increment composed of the derivative difference between the kth motion trajectory and the given desired motion trajectory. The convergence of the process to the desired motion trajectory is assured under some reasonable conditions. Numerical results by computer simulation are presented to show the effectiveness of the proposed learning scheme.

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2,966 citations


Network Information
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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20226
2021272
2020697
2019702
2018745
20171,422

Top Attributes

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Topic's top 5 most impactful authors

Toshio Fukuda

111 papers, 1.8K citations

Kazuhiro Kosuge

101 papers, 1.7K citations

Keigo Watanabe

86 papers, 921 citations

Hiroshi Ishiguro

66 papers, 2.1K citations

Roland Siegwart

51 papers, 3K citations