IEEE Control Systems

Issue 2 • April 1999

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Displaying Results 1 - 10 of 10
  • Posture control of a cockroach-like robot

    Publication Year: 1999, Page(s):9 - 14
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (669 KB)

    As legged robots become more animal-like, it is likely that these robots will have many complex limbs with redundant degrees of freedom (DOF). This is especially true when we desire them to move like an animal. Animals are capable of spontaneous and non-stereotyped locomotion, such as turning, swaying, twisting, deliberately falling, jumping, climbing, and running, Therefore, it becomes difficult ... View full abstract»

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  • Sliding Mode Motion Control of Nonholonomic Mobile Robots

    Publication Year: 1999, Page(s):15 - 23
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (950 KB)

    As nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e. the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced techniques are needed for the tracking control. In the paper a robust control law is proposed for trajectory tracking of nonholonomic wheeled mobile robots. The state variables of the mobile r... View full abstract»

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  • Control of two industrial manipulators rigidly holding an egg

    Publication Year: 1999, Page(s):24 - 30
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (701 KB)

    Based on the framework of general constrained robots, a delicate experiment with control of two heavy-duty industrial robots rigidly holding a raw egg is reported. The system possesses smooth transition behavior from free motion to constrained motion when working with unilateral constraints, since a unified no-switching control law is used. This experiment indicates that the robots have the capabi... View full abstract»

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  • Hybrid force-position control of clamping with a piezo-stepper

    Publication Year: 1999, Page(s):31 - 39
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (877 KB)

    The demands concerning shape accuracy, surface roughness, and subsurface damage on machined parts are continuously increasing. Traditionally, the production process of accurate and smooth surfaces consists of some roughing steps, like turning, and subsequent finishing steps, like polishing or precision grinding. Two new grinding processes, however, electrolytic in-process dressing (ELID), and high... View full abstract»

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  • Shared control framework applied to a robotic aid for the blind

    Publication Year: 1999, Page(s):40 - 46
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (726 KB)

    Demonstrates how the shared discrete event control system is applied to the Robotic Cane, a system which aids the visually impaired navigate through obstacle rich environments. It is also shown how the control framework operates to avoid obstacles with or without human interaction. During experiments the cane effectively helped the user to maneuver through an indoor environment. With a little prac... View full abstract»

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  • A new control strategy for DLR's multisensory articulated hand

    Publication Year: 1999, Page(s):47 - 54
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (876 KB)

    Concerns a multisensory 12-DOF 4-finger hand in which all actuators are integrated in the palm or the fingers. It was necessary to use a specially designed miniaturized linear actuator. For telemanipulation our first approach was to make the hand follow the desired states commanded from higher levels, e.g., dataglove. This requires accurate tracking, compliance in the constrained environment, and ... View full abstract»

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  • Precise position control of robot arms using a homogeneous ER fluid

    Publication Year: 1999, Page(s):55 - 61
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (627 KB)

    Semi-closed-loop control of a robot achieves only the control of the angular position of the motor, so it is not clear whether the end-effector is precisely positioned or not. Closed-loop control would improve positioning accuracy, but industrial robots which have elasticity in their driving systems might become unstable easily because of the noncollocated positional relationship between sensors a... View full abstract»

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  • In Memoriam - Andrzej W. Olbrot, Howard Kuafman

    Publication Year: 1999, Page(s): 67
    Request permission for commercial reuse | |PDF file iconPDF (111 KB)
    Freely Available from IEEE
  • CSS Publication Awards - Outstanding Paper Awards for CSS Publications

    Publication Year: 1999, Page(s): 68
    Request permission for commercial reuse | |PDF file iconPDF (132 KB)
    Freely Available from IEEE
  • Bookshelf - In the Mind of the Machine [Book Review]

    Publication Year: 1999, Page(s):74 - 75
    Request permission for commercial reuse | |PDF file iconPDF (245 KB)
    Freely Available from IEEE

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As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

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Jonathan P. How
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