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By Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino

This monograph offers an up to date resource of data at the cutting-edge in complicated keep an eye on of articulated and cellular robots. It contains appropriate chosen difficulties facing more advantageous actuation, movement making plans and keep watch over services for articulated robots, in addition to of sensory and independent choice functions for cellular robots. the fundamental inspiration at the back of the publication is to supply a bigger group of robot researchers and builders with a competent resource of knowledge and cutting edge functions within the box of keep an eye on of cooperating and cellular robots. This e-book is the end result of the study venture MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 through the Italian Ministry for schooling, college and examine. The thorough dialogue, rigorous therapy, and vast span of the provided paintings display the numerous advances within the theoretical origin and know-how foundation of the robotics box around the world.

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Murray, “Real-time trajectory generation for differentially flat systems,” Int. J. of Robust and Nonlinear Control, vol. 8, pp. 995–1020, 1998. 38 A. De Luca et al. 48. M. Vendittelli and G. Oriolo, “Stabilization of the general two-trailer system,” Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, pp. 1817–1822, 2000. 49. M. Vendittelli, G. -P. Laumond, “Steering nonholonomic systems via nilpotent approximations: The general two-trailer system,” Proc. of 1999 IEEE Int. Conf. on Robotics and Automation, pp.

563– 574, 2002. 46. N. C. Singer and W. P. Seering, “Preshaping command inputs to reduce system vibration,” ASME J. of Dynamic Systems, Measurements, and Control, vol. 112, pp. 76–82, 1990. 47. M. J. van Nieuwstadt and R. M. Murray, “Real-time trajectory generation for differentially flat systems,” Int. J. of Robust and Nonlinear Control, vol. 8, pp. 995–1020, 1998. 38 A. De Luca et al. 48. M. Vendittelli and G. Oriolo, “Stabilization of the general two-trailer system,” Proc. of 2000 IEEE Int. Conf.

L´evine, P. Martin, and P. Rouchon, “Flatness and defect of non-linear systems: Introductory theory and examples,” Int. J. of Control, vol. 61, pp. 1327–1361, 1995. 20. H. , Addison Wesley, 1980. 21. H. Hermes, “Nilpotent and high-order approximations of vector field systems,” SIAM Review, vol. 33, pp. 238–264, 1991. 22. S. Iannitti and A. De Luca, “Dynamic feedback control of XYnR planar robots with n rotational passive joints,” J. of Robotic Systems, vol. 20, pp. 251–270, 2003. 23. A. , Springer Verlag, 1995.

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