Robotics: Modelling, Planning and Control

By B. Siciliano, L. Sciavicco, Luigi Villani, Giuseppe Oriolo. 2008

2,671 citations recorded by the source corpus.

Subfields: Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/dc8a9c1b6fb60a510a67d4489a1b17608b2cd7fb

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In Control and Systems Engineering

Citations in the corpus

On-line regression algorithms for learning mechanical models of robots: A survey (2011, background): “Two approaches in that respect are the on-line parameter identification step of adaptive control [94], which tunes pa-”
A Dynamical System-based Approach to Modeling Stable Robot Control Policies via Imitation Learning (2012, methodology): “2 PID Control There are several ways of building a tracking controller including different variants of Proportional-Integral-Derivative (PID) control (Ogata, 2001), inverse dynamics control (Siciliano et al., 2009), adaptive and robust controls (Ioannou & Sun, 1996), optimal control (Bryson & Ho, 19”
Learning variable impedance control (2011, background): “Finding the appropriate gain schedule for a given task is, however, a hard problem (Hogan 1985a; Siciliano et al. 2009).”
SAPIEN: A SimulAted Part-Based Interactive ENvironment (2020, methodology): “ion with a specic interaction target). Door-opening and Drawer-pulling. We perform two manipulation tasks: door-opening and drawer-pulling, as shown in Figure5. Weuse a ying gripper (Kinova Gripper 3 [5]) that can move freely in the workspace. All dynamics properties except gravity, ( e.g ., contact”
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, methodology): “To solve the redundant inverse kinematics problem, a first-order resolved rate algorithm according to [35] and [36] is used.”
System Design and Control of an Apple Harvesting Robot (2020, neutral): “To achieve this task, the quintic function [37] Based on (3) and (4), the coefficients 𝑎 𝑦𝑖 , 𝑎 𝑧𝑖 ( 𝑖 = 0 , 1 , … , 5) can be calculated.”
Analysis of servo-constraint problems for underactuated multibody systems (2013, methodology): “For details it is pointed to Siciliano et al.(2010).”
Learning object-level impedance control for robust grasping and dexterous manipulation (2014, background): “However, despite all the above-mentioned progress, one critical issue still remains unaddressed: how to specify the proper impedance for a given task? The specification of impedance is known as a difficult problem as it depends on the task at hand as well as the kinematic and dynamic limitation of t”
Learning force control policies for compliant manipulation (2011, neutral): “Numerous methods can be found in the literature that control forces and positions simultaneously [13].”
Aerial Manipulation: A Literature Review (2018, background): “ture [101], and it is out of the scope of this letter.”
Path Planning and Trajectory Planning Algorithms: A General Overview (2015, background): “Referring to the industrial environment, a robot can be defined [78] as a mechanical structure made of several rigid bodies (links) connected one to another by means of joints.”
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions (2011, methodology): “Using the skew symmetry of the matrix Ṁ − 2C [33], the first derivative of”
Underwater manipulators: A review (2018, background): “Therefore, this approach does not have adequate robustness as it is sensitive to time varying and uncertain model parameters and external disturbances (Siciliano et al., 2009).”