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Volume 21 Issue 05/06 - Publication Date: 1 May - June 2002
 
- Multimedia Included
 
Editorial : Special Issue on Nonholonomy on Purpose 387

 
Design and Control of a Chained Form Manipulator 389
Woojin Chung Advanced Robotics Research Center, Korea Institute of Science and Technology, 39-1 Hawolgok-dong, Sungbuk-ku, Seoul 136-791 Korea and Yoshihiko Nakamura Dept. of Mechano-Informatics University of Tokyo 7-3-1, Hongo, Bunkyo-ku Tokyo 113-8656 Japan Abstract
   
Design, Analysis and Control of a Wheeled Mobile Robot with a Nonholonomic Spherical CVT 409
Jungyun Kim and F. C. Park School of Mechanical and Aerospace Engineering Seoul National University Seoul 151-742, Korea and Yeongil Park Institute of Precision Machinery Technology Seoul National University of Technology Seoul 139-743, Korea Abstract

 
Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation 427
Antonio Bicchi 'Enrico Piaggio' Interdepartmental Research Center Universitá di Pisa, Italy and Alessia Marigo Consiglio Nazionale delle Ricerche Istituto per le Applicazioni del Calcolo 'M. Picone' Roma, Italy Abstract

 
On Motion Planning for Robotic Manipulation with Permanent Rolling Contacts
443
Bálint Kiss and Jean Lévine Centre Automatique et Systèmes Ecole des Mines de Paris Fontainebleau, France and Béla Lantos Department of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest, Hungary Abstract

 
Rolling Based Manipulation under Neighborhood Equilibrium 463
Kensuke Harada Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) Ibaraki 305-8568, JAPAN , Taiga Kawashima and Makoto Kaneko Artificial Complex Systems Engineering Graduate School of Engineering Hiroshima University Kagamiyama, Higashi-Hiroshima 739-8527, JAPAN Abstract
   
Rolling Manipulation with a Single Control 475
Prasun Choudhury and Kevin M. Lynch Laboratory for Intelligent Mechanical Systems Department of Mechanical Engineering Northwestern University Evanston, IL~60208, USA Abstract
   
On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations 489
István Harmati Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics H-1117 Pázmány Péter sétány 1/D Budapest, Hungary and Experimental Robotics Laboratory School of Engineering , Béla Lantos Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics H-1117 Pázmány Péter sétány 1/D Budapest, Hungary and Shahram Payandeh Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby, British Columbia, Canada V5A 1S6 Abstract
   
Mechanism, Control and Design Methodology of the Nonholonomic Quasi-Omnidirectional Vehicle 'ODV9' 511
Yoshikazu Mori Graduate School of Engineering Tokyo Metropolitan University 1-1 Minami-Osawa, Hachioji Tokyo 192-0397, Japan , Eiji Nakano and Takayuki Takahashi Graduate School of Information Sciences Tohoku University, 01 Aoba, Aramaki-aza, Aoba-ku Sendai 980-8579, Japan Abstract
   
Development of a Fault-Tolerant Omnidirectional Wheeled Mobile Robot Using Nonholonomic Constraints 527
Myung-Jin Jung and Jong-Hwan Kim Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology (KAIST) Kusong-dong, Yusong-gu, Taejon-shi, 305-701 Republic of Korea Abstract
   
Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint 541
Tomohito Takubo University of Tsukuba 1-1 Tennodai, Tsukuba, Japan , Hirohiko Arai The National Institute of Advanced Industrial Science and Technology AIST Tsukuba East 1-2-1 Namiki, Tsukuba, Japan , Yasuo Hayashibara Toin University of Yokohama 1614 Kurogane-cho Midori-ku, Yokohama, Japan and Kazuo Tanie The National Institute of Advanced Industrial Science and Technology AIST Tsukuba Central 2 1-1-1 Umezono Tsukuba, Japan Abstract
   
Controllability of Under-Actuated Planar Manipulators with One Unactuated Joint 555
Keigo Kobayashi Department of Systems and Human Science Osaka University Toyonaka, Osaka 560-8531, Japan kobayasi@sys.es.osaka-u.ac.jp and Tsuneo Yoshikawa Department of Mechanical Engineering Kyoto University Sakyou-ku, Kyoto 606-8501, Japan yoshi@mech.kyoto-u.ac.jp Abstract
   
Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints 563
Naoji Shiroma Robotics Research Group Department of Engineering Science University of Oxford Parks Road, Oxford, OX1 3PJ, UK , Hirohiko Arai and Kazuo Tanie Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology AIST Tsukuba East, Namiki 1-2-1 Tsukuba, Ibaraki 305-8564, Japan Abstract
   
Trajectory Planning and Control for Planar Robots with Passive Last Joint 575
Alessandro De Luca Dipartimento di Informatica e Sistemistica Università di Roma 'La Sapienza' Via Eudossiana 18, 00184 Roma, Italy and Giuseppe Oriolo Dipartimento di Informatica e Sistemistica Universitá di Roma 'La Sapienza' Via Eudossiana 18, 00184 Roma, Italy Abstract
   
Control of Micro-Satellite Orientation Using Bounded-Input, Fully-Reversed MEMS Actuators 591
Sung Key Koh, James P. Ostrowski and G. K. Ananthasuresh Department of Mechanical Engineering and Applied Mechanics General Robotics, Automation, Sensing and Perception Laboratory University of Pennsylvania 3401 Walnut Street Philadelphia, PA 19104-6228, USA Abstract
   
Translational and Rotational Maneuvers of an Underactuated Space Robot using Prismatic Actuators 607
Jinglai Shen Department of Aerospace Engineering The University of Michigan Ann Arbor, MI 48109-2140, USA and N. Harris McClamroch Department of Aerospace Engineering, The University of Michigan Ann Arbor, MI 48109-2140, USA Abstract
   
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