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ECSE 6410 Robotics and Automation (Spring 2007)

Exams and Projects

Exams / Project

Project Description
1. Minimum time control along a specified path.
K.G. Shin, N.D. McKay, “Minimum-Time Control of Robotic Manipulators with Geometric
Path Constraints
,” IEEE Transaction on Automatic Control, 30(6), June 1985.
J.-J. E. Slotine, H.S. Yang, “Improving the Efficiency of Time-Optimal Path-Following
,” IEEE Transaction on Robotics and Automation, 5(1), Feb, 1989.
J.E. Bobrow, “Optimal Robot Path Planning Using the Minimum-Time Criterion,”
IEEE Journal of Robotics and Automation, 4(4), Aug, 1988.
2. Bilateral force feedback in teleoperation.
R.J. Anderson, M.W. Spong, “Bilateral control of. teleoperator with time delay,”
IEEE Transaction on Automatic Control, 34, 1989.
G. Niemeyer, J.-J. E. Slotine, “Towards Force-Reflecting Teleoperation Over the Internet,” Proceedings of 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, 1998.
3. Most successful parallel robot in practice: Delta robot.
P. Vischer, R. Clavel, “Kinematic calibration of the parallel Delta robot,” Robotica,
16, pp.207-218, 1998.
Zsombor-Murray, “Descriptive Geometric Kinematic Analysis of Clavel’s Delta Robot,”
McGill University report.
4. Potential function approach to robot navigation.
E. Rimon, D.E. Koditschek, “Exact robot navigation using artificial potential functions,”
IEEE Transactions on Robotics and Automation, 8(5), pp. 501-518, Oct 1992.
O. Khatib, “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” The
International Journal of Robotics Research, 5(1), pp. 90-98, 1986.
5. Visual servoing.
B. Espiau, F. Chaumette, P. Rives, “A New Approach to Visual Servoing in Robotics,”
IEEE Transactions on Robotics and Automation, 8(3), June, 1992.
6. Force control/impedance control.
N.J. Hogan, “Impedance control: An approach to manipulation: Parts I-III,” ASME
Journal on Dynamical Systems, Measurements, and Control, 107(1), pp. 1-7. 1985.
L.S. Wilfinger, J.T. Wen, S. Murphy, “Integral Force Control with Robustness Enhancement,”
IEEE Control System Magazine, 14(1), February, pp.31-40, 1994.
7. Nonholonomic motion planning and control.
R.M. Murray, S.S. Sastry, “Nonholonomic Motion Planning: Steering Using Sinusoids,”
IEEE Transactions On Automatic Control, 38(5), May 1993.
J.T. Wen, “Control of nonholonomic systems,” The Control Handbook, CRC Press,
8. Robot walking and gait control
J.W. Grizzle, G. Abba, F. Plestan, “Asymptotically stable walking for biped robots:
analysis viasystems with impulse effects,
” IEEE Transactions on Automatic Control,
46(1), Jan, 2001, pp.51-64.
9. Multiple robot control
J.T. Wen, K. Kreutz-Delgado, “Motion and Force Control of Multiple Robotic Manipulators,”
Automatica, 28(4), pp.729-743, 1992.
10. Humanoid robots.
J. Yamaguchi, E. Soga, S. Inoue, A. Takanishi, “Development of a bipedal humanoid
robot – control method of whole body cooperative dynamic biped walking
,” Proceedings
of 1999 IEEE International Conference on Robotics and Automation, Detroit, MI,
May, 1999.
11. Flexure mechanisms.
B. Yi, G. Chung, H. Na, W. Kim, “Design and experiment of a 3-DOF parallel micromechanism
utilizing flexure hinges
,” IEEE Transaction on Robotics and Automation,
19(4), Aug, 2003.
N. Dagalakis, E. Amatucci, “6-DOF micro-positioner,” US Patent 6,484,602, Nov,