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Dynamics and Robust Control of Robot-Environment Interaction

Dynamics and Robust Control of Robot-Environment Interaction PDF Author: Miomir Vukobratovic
Publisher: World Scientific
ISBN: 9812834761
Category : Technology & Engineering
Languages : en
Pages : 657

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Book Description
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.