By Topic

Robotics and Automation, IEEE Journal of

Issue 2 • Date June 1986

Filter Results

Displaying Results 1 - 8 of 8
  • [Front cover and table of contents]

    Publication Year: 1986 , Page(s): c1
    Save to Project icon | Request Permissions | PDF file iconPDF (153 KB)  
    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1986 , Page(s): c4 - 0
    Save to Project icon | Request Permissions | PDF file iconPDF (199 KB)  
    Freely Available from IEEE
  • A study of the gait control of a quadruped walking vehicle

    Publication Year: 1986 , Page(s): 61 - 69
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1200 KB)  

    Some of the fundamental problems of the gait control of a quadruped walking vehicle are addressed. It is shown that the product of the duty factor and the stride length is equal to the length of the boundary of the reachable area of the leg. Furthermore, the mathematical expression representing the relationship between the stability margin, the stride length and duty factor are also formulated. Th... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Multi-microprocessor-based cartesian-space control techniques for a mechanical manipulator

    Publication Year: 1986 , Page(s): 110 - 115
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (840 KB)  

    A multi-microprocessor-based structure for controlling the manipulator motion in Cartesian space is presented. The objective is to investigate the feasibility of implementing hand-based control laws using present day microprocessors. computational complexity analysis indicates that the control schemes involving full inverse-kinematics and inverse-dynamics computations can be realised using the pro... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust compliant motion for manipulators, part II: Design method

    Publication Year: 1986 , Page(s): 93 - 105
    Cited by:  Papers (55)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1440 KB)  

    A controller design methodology to develop a robust compliant motion for robot manipulators is described. The achievement of the target dynamics (the target impedance is introduced in Part I) and preservation of stability robustness in the presence of bounded model uncertainties are the key issues in the design method. State-feedback and force-feedforward gains are chosen to guarantee the achievem... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Running on four legs as though they were one

    Publication Year: 1986 , Page(s): 70 - 82
    Cited by:  Papers (50)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (2064 KB)  

    Simple locomotion algorithms provide balance for machines that run on one leg. The generalization of these one-leg algorithms for control of machines with several legs is explored. The generalization is quite simple when muitilegged systems run with gaits that use the support legs one at a time. For these gaits the one-leg algorithms can be used to control multilegged running. The concept of a vir... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion

    Publication Year: 1986 , Page(s): 83 - 92
    Cited by:  Papers (130)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1328 KB)  

    A method for the design of controllers of constrained manipulators in the presence of model uncertainties is developed. The controller must carry out fine maneuvers when the manipulator is not constrained, and compliant motion, with or without interaction-force measurement, when the manipulator is constrained. At the same time stability must be preserved if bounded uncertainties are allowed in mod... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Input-output characteristics for imaged transducers

    Publication Year: 1986 , Page(s): 106 - 110
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (848 KB)  

    An image processor used as a position transducer is treated on an input-output basis. If processing speed is sufficiently fast the input-output characteristic is independent of frequency and can be represented as a gain function. The input is a function of the image pattern (including intensity if grey level is used) and the output is used for control or other purposes but control is the issue con... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

Aims & Scope

This Journal ceased production in 1988. The current retitled publications are IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope