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1.

図書
図書
1. ロボット製作のキーワード
清弘智昭, 鈴木昇共著
出版情報: 東京 : オーム社, 2000.1  xi, 154p ; 26cm
シリーズ名: RoboBooks
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2.

図書
図書
2. Modelling and control of robot manipulators. 2nd ed (: pbk)
L. Sciavicco and B. Siciliano
出版情報: Lodon ; Tokyo : Springer, c2000  xxiii, 377 p. ; 24 cm
シリーズ名: Advanced textbooks in control and signal processing
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3.

図書
図書
3. Advances in robot kinematics
edited by J. Lenarčič and M.M. Stanišić
出版情報: Dordrecht : Kluwer Academic, c2000  442 p. ; 25 cm
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目次情報: 続きを見る
Methods in Kinematics / 1.：
Study's kinematic mapping--A tool for motion design / A. Gfrerrer
Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra / E. Staffetti ; F. Thomas
Unit quaternion and CRV: Complementary non-singular representations of rigid-body orientation / V. Milenkovic ; P.H. Milenkovic
Numerically stable methods for converting rotation matrices to Euler parameters / I.D. Coope ; A.B. Lintott ; G.R. Dunlop ; M.I. Vuskovic
Geometry of homokinematic spatial Cardan shafts by dual methods / M. Keler
A concise Bezier clipping technique for solving inverse kinematics problems / C. Bombin ; L. Ros
Geometric calibration of robots using multiple plane constraints / S. Besnard ; W. Khalil ; G. Garcia
Kinematic Synthesis / 2.：
On isotropic sets of points in the plane. Application to the design of robot architectures / J. Angeles ; D. Chablat
Fourier methods for synthesis of coupled serial chain mechanisms / Y. Pang ; V. Krovi
Dimensional synthesis of spatial RR robots / A. Perez ; J. M. McCarthy
Approximate motion synthesis via parametric constraint manifold fitting / P. Larochelle
Designing linkages with symmetric motions: The spherical case / J.M. Rico ; B. Ravani
Kinematic synthesis of planar platforms with RPR, PRR, and RRR chains / A. Murray ; M. Hanchak
Force Analysis / 3.：
Impact analysis as a design tool for the legs of mobile robots / J.P. Schmiedeler ; K.J. Waldron
Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control / K. Iagnemma ; S. Dubowsky
The Melbourne hand / S.R. Lucas ; C.R. Tischler ; A.E. Samuel
Active force closure for multiple objects / K. Harada ; M. Kaneko ; T. Tsuji
SCALPP: A 6-dof robot with a non-spherical wrist for surgical applications / G. Duchemin ; E. Dombre ; F. Pierrot ; E. Degoulange
A framework for multi-contact multi-body dynamic simulation and haptic display / D. Ruspini ; O. Khatib
On the dynamics of a class of parallel robots / F. Caccavale ; G. Ruggiero ; B. Siciliano ; L. Villani
Kinematic Redundancy / 4.：
A simplified criterion for the repeatability of redundant manipulators / R. Schaufler ; C.H. Fedrowitz ; R. Kammuller
An intuitive interface for nullspace teaching of redundant robots / G. Schreiber ; G. Hirzinger
Methods for resolving velocity degeneracies of joint-redundant manipulators / S.B. Nokleby ; R.P. Podhorodeski
Novel kinematics for continuum robots / M.W. Hannan ; I.D. Walker
The optimum quality index for a spatial redundant 4-8 in-parallel manipulator / Y. Zhang ; J. Duffy ; C. Crane
Fuzzy inverse kinematics for underwater vehicle-manipulator systems / G. Antonelli ; S. Chiaverini
Parallel Mechanisms and Workspace Analysis / 5.：
Symmetries in workspace densities of discretely actuated manipulators / G.S. Chirikjian
Workspace characterization of planar three-legged platforms with holonomic higher pairs / M.J.D. Hayes ; M.L. Husty
Estimating the controllable workspace of tendon-based Stewart platforms / R. Verhoeven ; M. Hiller
The chord method for the determination of non-convex workspaces of planar parallel platforms / J.A. Snyman ; A.M. Hay
Elasto-kinematic design tools for parallel mechanisms / J. Kim ; F.C. Park
Kinematic analysis of a new parallel machine tool: the orthoglide / P. Wenger
Optimal trajectory planning of a 5-axis machine-tool based on a 6-axis parallel manipulator / J-P. Merlet ; M-W. Perng ; D. Daney
Analysis and Application of Parallel Mechanisms / 6.：
A 4-dof parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex / J. Lenarcic ; M.M. Stanisic ; V. Parenti-Castelli
Parallel mechanisms applied to the human knee passive motion simulation / R. Di Gregorio
A geometric model for cylinder-cylinder impact with application to vertebrae motion simulation / A. Kecskemethy ; C. Lange ; G. Grabner
Architecture singular parallel manipulators and their self-motions / M. Husty ; A. Karger
Architectural shakiness or architectural mobility of platforms / K. Wohlhart
Mobius mechanisms / O. Roschel
Parallel Mechanisms and Screw Algebra / 7.：
Direct kinematics of the double-triangular manipulator: An exercise in geometric thinking / J.C.F. Shum ; P.J. Zsombor-Murray
A three-dof tripod for generating spherical rotation / M. Karouia ; J.M. Herve
Kinematical analysis and simulation of a new parallel mechanism for robotics' application / G. Olea ; N. Plitea ; K. Takamasu
Early studies in screw theory / M. Ceccarelli
On deriving infinitesimal twists and velocity screws from finite displacement screws / I.A. Parkin
Synthesis by screw algebra of translating in-parallel actuated mechanisms / A. Frisoli ; D. Checcacci ; F. Salsedo ; M. Bergamasco
Author Index
Methods in Kinematics / 1.：
Study's kinematic mapping--A tool for motion design / A. Gfrerrer
Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra / E. Staffetti ; F. Thomas
4.

図書
図書
4. Proceedings, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems : expanding the societal role of robotics in the next millennium : October 29-November 3, 2001, Outrigger Wailea Resort, Maui, Hawaii, USA (: set : softbound - : CD-ROM)
sponsored by IEEE Industrial Electronics Society ... [et al.]
出版情報: Piscataway, NJ : Institute of Electrical and Electronics Engineers, c2001  4 v. (liii, 2408 p.) ; 28 cm.
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5.

図書
図書
5. Robotics research : The Tenth International Symposium
Raymond A. Jarvis, Alexander Zelinsky (eds.)
出版情報: Berlin : Springer, c2003  xxi, 572 p. ; 25 cm
シリーズ名: Springer tracts in advanced robotics ; 6
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目次情報: 続きを見る
Simultaneous Localization And Mapping / Part 1：
Session Summary / Raja Chatila
Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization / John J. Leonard ; Paul M. Newman ; Richard J. Rikoski ; José Neira ; Juan D. Tardós
Introduction / 1：
"Explore and return" using Laser / 2：
Sonar Perceptual Grouping Using the Hough Transform / 3：
Delayed Stochastic Mapping / 4：
Conclusion / 5：
A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots / Sebastian Thrun ; Wolfram Burgard ; Deepayan Chakrabarti ; Rosemary Emery ; Yufeng Liu ; Christian Martin
Multi-Surface Models
Acquisition of Compact 3D Models in Real-Time
Experimental Results
Discussion
Implementation of Simultaneous Navigation and Mapping in Large Out-door Environments / Jose Guivant ; Eduardo Nebot
Simultaneous Localization and Mapping
Sub-Optimal Decorrelation Algorithm
Environment Description and Feature Detection
Conclusions / 6：
A Bayesian Algorithm for Simultaneous Localisation and Map Building / Hugh Durrant-Whyte ; Somajyoti Majumder ; Marc de Battista ; Steve Scheding
Bayesian Formulation of the SLAM problem
Solving the SLAM problem
Implementation of the SOG Method in Sub-Sea SLAM
Discussion and Conclusion
Humanoid Robotics I / Part 2：
ETL-Humanoid: A Research Vehicle for Open-Ended Action Imitation / Hirochika Inoue ; Yasuo Kuniyoshi ; Gordon Cheng ; Akihiko Nagakubo
Essential Issues in Imitation
ETL-Humanoid: Our Research Vehicle
Multi-modal Perception and Action
Proto-Imitation Experiments
Summary and Conclusions
Low-level Autonomy of the Humanoid Robots H6 & H7 / Satoshi Kagami ; Koichi Nishiwaki ; James Kuffner ; Kei Okada ; Masayuki Inaba
Low-level Autonomy of Humanoid Robots
Humanoid Robots H6 & H7
Autonomy in Bipedal Locomotion
Autonomy in Object Manipulation
Autonomy in Human Interaction
OpenHRP: Open Architecture Humanoid Robotics Platform / Hirohisa Hirukawa ; Fumio Kanehiro ; Shuuji Kajita7：
Overview of OpenHRP
Unification of the controllers
Determining the repulsive force
Sharing software between the simulator and the controllers
Simulations and experiments
Building Spined Muscle-Tendon Humanoid / Ikuo Mizuuchi ; Ryosuke Tajima ; Tomoaki Yoshikai ; Daisuke Sato ; Koichi Nagashima
Design of spined muscle-tendon humanoid "Kenta"
Design of the Software System Structure
First steps to manage the body
Summary and Concluding Remarks
Dynamics and Control / Part 3：
Stride Period Adaptation for a Biomimetic Running Hexapod / Bernard Roth ; Jonathan K. Karpick ; Jorge G. Cham ; Jonathan E. Clark ; Mark R. Cutkosky
Simplified Model for Open-Loop Locomotion and Adaptation
Stride Period Adaptation
Conclusions and Future Work
Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model / Hiroshi Kimura ; Yasuhiro Fukuoka ; Yoshiro Hada ; Kunikatsu Takase
Adaptive Dynamic Walking Using a Neural System Model
Planar Walking
Three-dimensional Walking
Design and Applications of Parallel Robots / Karol Miller
Optimal Design of Parallel Robots
Medical Applications - MRI Compatible Parallel Robot
Conclusions and Discussion
Humanoid Robotics II / Part 4：
Development of an Interactive Humanoid Robot "Robovie" - An inter-disciplinary approach / Tomomasa Sato ; Hiroshi Ishiguro ; Tetsuo Ono ; Michita Imai ; Takayuki Kanda
Robovie: An Interactive Humanoid Robot
Two Cognitive Experiments
A Robot Architecture for Generating Episode Chains
The German Collaborative Research Centre on Humanoid Robots / Rüdiger Dillmann
The PbD Process
System Structure
PbD Phases
Experiments
Future Work
A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties / Ralf Koeppe ; Alin Albu-Schäffer ; Carsten Preusche ; Günter Schreiber ; Gerd Hirzinger
The Human Arm System
The Advanced Robot: Design and Control Principles
Human Centred Robotics / Part 5：
Uniting Haptic Exploration and Display / James Trevelyan ; Allison M. Okamura
The Correspondence Between Exploration and Display
Exploration, Modeling, and Display of Surface Features
Human-Centered Robotics and Interactive Haptic Simulation / O. Khatib ; O. Brock ; K.C. Chang ; D. Ruspini ; L. Sentis ; S. Viji
Whole-Robot Control: Task and Posture
Interactive Haptic Simulation
Task-Consistent Elastic Plans
Collaboration, Dialogue, and Human-Robot Interaction / Terrence Fong ; Charles Thorpe ; Charles Baur
Dialogue
System Design
Results
Related Work
Applications / Part 6：
Vertebrate-type Perception and Gaze Control for Road Vehicles / Paolo Dario ; M. Pellkofer ; M. Lützeler ; E. D. Dickmanns
Motivation
Camera Configuration
Gaze Control Unit
Requesting Attention
Active Vision for Road Recognition
Optimization of Gaze Behavior
Experimental results / 8：
Towards a Realistic Medical Simulator using Virtual Environments and Haptic Interaction / Christian Laugier ; César Mendoza ; Kenneth Sundaraj9：
Physical Models for Soft Tissue
Numerical Resolution
Real-Time Interactions
Spoken Language Interface of the Jijo-2 Office Robot / Toshihiro Matsui ; Hideki Asoh ; Futoshi Asano ; John Fry ; Isao Hara ; Yoichi Motomura ; Katsunobu Itoh
Robot Architecture
Navigation and Map
Spoken Language Dialogue System
Task Execution
Example Dialogue and Behavior
Intelligent Home Appliances / Henrik I. Christensen
Example Systems
Analysis/Synthesis
Summary
Field Robots / Part 7：
Vision-Based Navigation / Chuck ThorpePart 8：
Vision-based Navigation, Environmental Representations and Imaging Geometries / Yoshiaki Shirai ; José Santos-Victor ; Alexandre Bernardino
Imaging geometries
Environmental representations
Examples of Navigation and Vision based Control
Mobile Robot Navigation As A Planar Visual Servoing Problem / Peter Corke
Visual Servoing Revisited
A Planar Formulation For Navigation
What Can We Learn From The Visual Servoing Literature?
Landing Strategies in Honeybees, and Applications to UAVs / M. V. Srinivasan ; S. W. Zhang ; J. S. Chahl ; M. A. Garratt
How Bees Perform Smooth Landings
Tests on a Robotic Gantry
Implementation in flying vehicles
Visual navigation in a plane using the conformal point / Richard Hartley ; Chanop Silpa-Anan
Motion in a plane
Proof of the angle construction
Determining the position of the conformal point
Homography from conformal point
Camera moving in a plane
Motion estimation in planar motion
Examples
Planning and Modeling / Part 9：
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking / Bob Bolles ; Gildardo Sánchez ; Jean-Claude Latombe
Definitions and Notations
Experimental Foundations
Description of SBL
Geometrical Interpretation of the CCT Stiffness Mapping for Serial Manipulators / Chintien Huang ; Imin Kao
Screw-Based Jacobian Matrices of Serial Manipulators
The Conservative Congruence Transformation
The Interpretation of Kg
Example of the Planar 3R Manipulator
A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics / Roy Featherstone
Background
Dual Vector Spaces
Dynamic Model of Contact
Analysis
Control
Robot Technology I / Part 10：
AURORA - Minimalist Design for Tracked Locomotion / John Hollerbach ; Jan-Olof Eklundh ; Dr. Hagen Schempf
Performance Requirement
System Description
Prototype Testing
Summary & Conclusion
Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract / L. Phee ; A. Menciassi ; D. Accoto ; C. Stefanini ; P. Dario
Inchworm Type Locomotion
Types of Actuators and Mechanisms
First Prototype for Navigation in the Colon: Experimental Results
Modified Clampers Disposition: A Second Prototype
Advanced Sonar Sensing / Lindsay Kleeman
Sensor Design
Range and Bearing Measurements
Natural Selection of Landmarks
Discrimination
Interference Rejection
Classification
Some Underwater Results
Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans / Yasuyoshi Yokokohji ; Yoshihiko Sugawara ; Junji Kinoshita ; Tsuneo Yoshikawa
WYSIWYF display
Accurate Image Overlay on HMDs by Hybrid Vision/Inertial Tracking
Encountered-type Haptic Device That Renderes Multiple Virtual Objects
Mechano-Media
Robot Technology II / Part 11：
The Evolution of a Robot Soccer Team / Raymond Austin Jarvis ; Alex Zelinsky ; Claude Sammut ; Bernhard Hengst
The Sony Legged Robot League
History
Vision
Localisation
Locomotion
Communication
Game Play Behaviours
Simultaneous Localization And Mapping / Part 1：
Session Summary / Raja Chatila
Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization / John J. Leonard ; Paul M. Newman ; Richard J. Rikoski ; José Neira ; Juan D. Tardós
6.

図書
図書
6. Optimal control : an introduction
Arturo Locatelli
出版情報: Basel : Birkhauser, c2001  viii, [1], 294 p. ; 24 cm
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7.

図書
図書
7. Mechatronic Control of Distributed Noise and Vibration : A Lyapunov Approach
Christopher D. Rahn
出版情報: Berlin : Springer, c2001  xv, 212 p. ; 25 cm
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目次情報: 続きを見る
Introduction
Distributed Parameter Models
Mathematical Preliminaries
Passive Control
Exact Model Knowledge Control
Adaptive Control
Bibliography
Introduction
Distributed Parameter Models
Mathematical Preliminaries
8.

図書
図書
8. Proceedings, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) : October 31-November 5, 2000, Kagawa University, Takamatsu, Japan (: set : softbound - v. 3 : casebound)
sponsored by IEEE Industrial Electronics Society ... [et al.]
出版情報: Piscataway, NJ : Institute of Electrical and Electronics Engineers, c2000  3 v. (xlix, 2373, xii p.) ; 30 cm
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9.

図書
図書
9. Differential neural networks for Robust nonlinear control : identification, state estimation and trajectory tracking
Alexander S. Poznyak, Edgar N. Sanchez, Wen Yu
出版情報: New Jersey : World Scientific, c2001  xxxi, 422 p. ; 23 cm
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10.

図書
図書
10. Underactuated robotic hands (: pbk)
Lionel Birglen, Thierry Laliberté, Clément Gosselin
出版情報: Berlin : Springer, c2008  xv, 241 p. ; 24 cm
シリーズ名: Springer tracts in advanced robotics ; v. 40
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目次情報: 続きを見る
Introduction / 1：
Underactuation / 1.1：
Contributions of the Book / 1.2：
Overview of the Book / 1.3：
Grasping vs. Manipulating / 2：
Robotic Hands: Aims and Functions / 2.1：
Underactuation in Robotic Hands / 2.2：
Underactuation as a Solution to Grasping / 2.2.1：
Literature Review / 2.2.2：
Kinetostatic Analysis of Robotic Fingers / 3：
General Static Model / 3.1：
Computation of the Transmission Matrix / 3.3：
Expressions of the Contact Forces / 3.4：
Positive Definiteness of the Forces / 3.5：
Other Transmission Mechanisms / 3.6：
Double-Stage Mechanism / 3.6.1：
Tendon-Pulley Transmission / 3.6.2：
Gears / 3.6.3：
Da Vinci's Mechanism / 3.6.4：
Comparison / 3.6.5：
Less-than-n-phalanx Grasps / 3.7：
Conclusions / 3.8：
Grasp Stability of Underactuated Fingers / 4：
Grasp Stability of Two-Phalanx Underactuated Fingers / 4.1：
Grasp Stability for Single Point Contact / 4.2.1：
Contact Trajectories / 4.2.2：
Equation of the Equilibrium Point / 4.2.3：
Linear and Circular Contact / 4.2.4：
Application: Synthesis of an Optimally Unstable Finger / 4.2.5：
Application: Design Validation / 4.2.6：
On the Grasp-State Plane Necessity / 4.2.7：
Grasp Stability of Three-Phalanx Underactuated Fingers / 4.3：
Three-Phalanx Underactuated Fingers Ejection Theory / 4.3.1：
Loss of One Contact / 4.3.2：
Degeneracy Analysis / 4.3.3：
On the Validation Surfaces / 4.3.4：
Loss of Two Contacts / 4.3.5：
Optimal Design of Underactuated Fingers / 4.4：
Optimal Design of Two-Phalanx Underactuated Fingers / 5.1：
Force Properties and Ejection / 5.2.1：
Force Isotropic Design / 5.2.2：
Guidelines to Prevent Ejection / 5.2.3：
Optimal Design of Three-Phalanx Underactuated Fingers / 5.3：
Dimensional Analysis / 5.3.1：
Grasp-Stability Analysis / 5.3.3：
Underactuation between the Fingers / 5.4：
Design Solutions / 6.1：
Movable Pulley / 6.2.1：
Seesaw Mechanism / 6.2.2：
Fluidic T-Pipe / 6.2.3：
Planetary and Bevel Gear Differentials / 6.2.4：
Combining Multiple Stages / 6.3：
Transmission Tree Analysis / 6.3.1：
Performance Evaluation of the Transmission Tree / 6.3.2：
Exchanging Inputs and Outputs / 6.4：
Applications / 6.5：
Underactuated Gripper / 6.5.1：
Multiple Pulley Routing / 6.5.2：
Serial Routing / 6.5.3：
Symmetrical Routing / 6.5.4：
Other Transmission Solutions / 6.6：
The Floating Platform / 6.6.1：
The Spring-Loaded Slider / 6.6.2：
Design and Control of the Laval Underactuated Hands / 6.7：
Design of Laval Underactuated Hands / 7.1：
Location and Orientation of the Fingers / 7.2.1：
Pinch Grasp Mechanism / 7.2.2：
The MARS Hand / 7.2.3：
The SARAH Hands / 7.2.4：
Control and Experimentation of the Laval Underactuated Hands / 7.3：
Hybrid Control of the MARS Hand / 7.3.1：
Force Control of the MARS Hand / 7.3.2：
Control of the SARAH hands / 7.3.3：
Conclusion / 7.4：
Summary and Contributions of the Book / 8.1：
Perspectives / 8.2：
Mathematical Proofs / A：
Influence of the Base Joint Spring / A.1：
Influence of k[subscript 1] / A.2：
Relationship between Proximal and Intermediate Forces / A.3：
Transmission Tree Formulae / A.4：
Serial Transmission Tree / A.4.1：
Symmetrical Transmission Tree / A.4.2：
References
Index
Introduction / 1：
Underactuation / 1.1：
Contributions of the Book / 1.2：
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