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dexterous motions

Robotica (1)

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Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions *
Suguru Arimoto
Journal:

Robotica / Volume 13 / Issue 2 / March 1995

Published online by Cambridge University Press:

09 March 2009, pp. 111-122
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Part II continues to develop a hyper-stability framework for presenting physical interpretations of dexterous motion controls, such as hybrid position/force, impedance, model-based adaptive, learning control and coordination. In all cases passivity induced by introduction of a quasi-natural potential plays a key role. In view of these considerations, the final section discusses the possibility of development of a nonlinear circuit theory based on feedback connections of hyper-stable blocks, which may give rise to a physical understanding of dexterous and skilled motions for nonlinear mechanical systems and, eventually lead to the design of intelligent functions implementable in robotic machines.

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Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions *

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Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions*

Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions *