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WMR control via dynamic feedback linearization: design, implementation, and experimental validation

It is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems for wheeled mobile robots in environments without obstacles.
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Closed-form dynamic model of planar multilink lightweight robots

Closed-form equations of motion are presented for planar lightweight robot arms with multiple flexible links. The kinematic model is based on standard frame transformation matrices describing both…
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Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

An efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision is presented.
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A depth space approach to human-robot collision avoidance

A fast method to evaluate distances between the robot and possibly moving obstacles (including humans), based on the concept of depth space, is used to generate repulsive vectors that are used to control the robot while executing a generic motion task.
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Trajectory tracking control of a four-wheel differentially driven mobile robot

This work considers the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain and designs a model-based nonlinear controller, following the dynamic feedback linearization paradigm.
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Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments

This work proposes a visual servoing approach where depth is observed and made available for servoing by interpreting depth as an unmeasurable state with known dynamics, and building a non-linear observer that asymptotically recovers the actual value of Z for the selected feature.
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Collision detection and reaction: A contribution to safe physical Human-Robot Interaction

The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans.
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Sensorless Robot Collision Detection and Hybrid Force/Motion Control

The idea is to handle a collision at a generic point along the robot as a fault of its actuating system as well as a previously developed dynamic FDI technique, which does not require acceleration or force measurements.
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Control of Wheeled Mobile Robots: An Experimental Overview

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory…
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Actuator failure detection and isolation using generalized momenta

A method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators and extended to robots with joint elasticity and to the inclusion of actuator dynamics is presented.
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