Volume 48; Issue 19

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IFAC-PapersOnLine
Volume 48; Issue 19

IFAC-PapersOnLine

Volume 48; Issue 19

1

Unicycle-Type Robot & Quadrotor Leader-Follower Formation Backstepping Control

Vallejo-Alarcón, M.A., Castro-Linares, R., Velasco-Villa, M.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 557 KB

english, 2015

2

Variational Analytic Programming for Synthesis of Optimal Control for Flying Robot

Diveev, A.I., Ibadulla, S.I., Konyrbaev, N.B., Shmalko, E.Yu.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 564 KB

english, 2015

3

Variational Genetic Programming for Optimal Control System Synthesis of Mobile Robots

Diveev, A.I., Ibadulla, S.I., Konyrbaev, N.B., Shmalko, E.Yu.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 673 KB

english, 2015

4

Learning optimal variable admittance control for rotational motion in human-robot co-manipulation

Dimeas, Fotios, Aspragathos, Nikos

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 719 KB

english, 2015

5

Development of a Human Machine Interface for Control of Robotic Wheelchair and Smart Environment**The authors thank FAPES (a foundation of the Secretary of Science and Technology of the State of Espirito Santo, Brazil), CAPES (a foundation of the Brazilian Ministry of Education) and CNPQ (The Brazilian National Council for Scientific and Technological Development), for the support given to this work.

Tello, Richard J.M.G., Bissoli, Alexandre L.C., Ferrara, Flavio, Müller, Sandra, Ferreira, Andre, Bastos-Filho, Teodiano F.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 916 KB

english, 2015

6

Nonlinear Model Predictive Formation Control for Quadcopters**This work was supported by FAPESB, CNPq and CAPES.

Ribeiro, Tiago T., Conceição, André G.S., Sa, Inkyu, Corke, Peter

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.63 MB

english, 2015

7

A Repetitive Control Scheme Based on B-Spline Trajectories Modification**This activity has been supported by the University of Bologna, with the “FARB Linea 2” funding action.

Biagiotti, Luigi, Moriello, Lorenzo, Melchiorri, Claudio

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.39 MB

english, 2015

8

Algorithm to Identification of Parameters and Automatic Re-Project of Speed Controller of BLDC Motor

Siqueira, Everson B., Mor, Jusoan L., Azzolin, Rodrigo Z., de Oliveira, Vinícius M.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 578 KB

english, 2015

9

An Output-Feedback PID-type Global Regulator for Robot Manipulators with Bounded Inputs**Marco Mendoza was supported by CONACYT, Mexico. Víctor Santibáñez was supported by CONACYT (project no. 134534) and TNM (Tecnolágico Nacional de México), Mexico.

Zavala-Río, Arturo, Mendoza, Marco, Santibáñez, Víctor, Reyes, Fernando

Journal:

IFAC-PapersOnLine

Year:

2015

File:

PDF, 545 KB

2015

10

Effect of Robot Revolution Initiative in Europe – Cooperation possibilities for Japan and Europe

Sziebig, Gabor, Korondi, Peter

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.20 MB

english, 2015

11

A Polyurethane-based Compliant Element for Upgrading Conventional Servos into Series Elastic Actuators**This work was partially funded by Univ. Federal de Santa Maria, by Ostfalia Univ. of Applied Sciences and by the RoboCup Federation.

Martins, Leandro Tomé, Arend Tatsch, Christopher A., Maciel, Eduardo Henrique, Gerndt, Reinhard, da Silva Guerra, Rodrigo

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 910 KB

english, 2015

12

Trajectory Tracking of a Quadcopter UAV with Optimal Translational Control**The authors acknowledgments the financial support from CONA-CyT and Universidad Iberomaericana, Mexico City.

Hernandez-Martinez, E.G., Fernandez-Anaya, G., Ferreira, E.D., Flores-Godoy, J.J., Lopez-Gonzalez, A.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.38 MB

english, 2015

13

Lateral Control of Airship with Uncertain Dynamics using Incremental Nonlinear Dynamics Inversion

Azinheira, J.R., Moutinho, A., Carvalho, J.R.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 584 KB

english, 2015

14

A SystemC Model of a Low-Level Inference Engine for Symbolic Reasoning in Cognitive Agents**This work was supported by CAPES (Coordenação de Aperfeiçoamento de Pessoal de Nível Superior, process number 9174-11-7), CNPq (Conselho Nacional de Desenvolvimento Científico e Tecnolgico) and FAPESB (Fundação de Amparo à Pesquisa do Estado da Bahia).

Ferreira, Diego Stéfano F., da Costa, Augusto Loureiro, Conceição, André Gustavo Scolari

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 658 KB

english, 2015

15

Visual Servoing for Object Manipulation with a Multifingered Robot Hand**This work was partially supported by the Brazilian Funding Agencies (CNPq, CAPES and FAPERJ) and The Research Council of Norway.

Reis, Matheus F., Leite, Antonio C., From, Pål J., Hsu, Liu, Lizarralde, Fernando

Journal:

IFAC-PapersOnLine

Year:

2015

File:

PDF, 724 KB

2015

16

On the Brain Computer Robot Interface (BCRI) to Control Robots

Sanchez-Fraire, U., Parra-Vega, V., Martinez-Peon, D., Sepúlveda-Cervantes, G., Sanchez-Orta, A., Muñoz-Vázquez, A.J.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 898 KB

english, 2015

17

Visual Servoing for Object Manipulation with a Multifingered Robot Hand**This work was partially supported by the Brazilian Funding Agencies (CNPq, CAPES and FAPERJ) and The Research Council of Norway.

Reis, Matheus F., Leite, Antonio C., From, Pål J., Hsu, Liu, Lizarralde, Fernando

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 724 KB

english, 2015

18

Embedding the Concurrent Autonomous Agent into a Humanoid Robot**This work was supported by CAPES (Coordenação de Aperfeiçoamento de Pessoal de Nível Superior, process number 9174-11-7), CNPq (Conselho Nacional de Desenvolvimento Científico e Tecnológico) and FAPESB (Fundação de Amparo à Pesquisa do Estado da Bahia).

da Costa, Augusto Loureiro, Ferreira, Diego Stefano F., Conceição, Andre Gustavo Scolari, Pappas, George

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.42 MB

english, 2015

19

Review of Man-Machine Interaction in Five-axis Machining with STEP-NC

Sibul, Lazar, Sziebig, Gabor, Korondi, Peter

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1014 KB

english, 2015

20

Unstructured terrain adaptive navigation of self-reconfigurable quadruped robot

Heredia, Manuel Vega, Martínez-García, Edgar A., Torres-Córdoba, Rafael

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.20 MB

english, 2015

21

Nonlinear Control of a TiltRotor UAV for Load Transportation**The authors would like to thank the Brazilian research agencies CAPES, CNPq and FAPEMIG for their financial contribution for the accomplishment of this work.

de Almeida, Marcelino M., Raffo, Guilherme V.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.62 MB

english, 2015

22

Stochastic Analysis of a 6-DOF Fully Parallel Robot under Uncertain Parameters**This work was supported by the National Institute of Science and Technology of Smart Structures in Engineering (INCT-EIE), jointly funded by CNPq, CAPES and FAPEMIG.

Lara-Molina, F.A., Koroishi, E.H., Dumur, D., Steffen, V.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.79 MB

english, 2015

23

Dexterous Dynamic Optimal Grasping of a Circular Object subject to Gravity with Soft-fingertips

García-Rodríguez, R., Villalva-Lucio, M., Parra-Vega, V.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 681 KB

english, 2015

24

New pose estimation scheme in perspective vision system during civil aircraft landing

GIBERT, Victor, BURLION, Laurent, CHRIETTE, Abdelhamid, BOADA, Josep, PLESTAN, Franck

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 600 KB

english, 2015

25

Decentralized Formation Tracking for Groups of Mobile Robots with Consensus and MPC**This work was supported by CAPES, Brazil.

de Barros Correia, Filipe Lopes, Moreno, Ubirajara Franco

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 675 KB

english, 2015

26

Contents

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 287 KB

english, 2015

27

Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity

Schmidt, P., Artigas, J., De Stefano, M., Balachandran, R., Ott, C.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 538 KB

english, 2015

28

Trajectory Tracking Control of an Aerial Robot with Obstacle Avoidance

Viana, Ícaro Bezerra, Acampora Prado, Igor Afonso, dos Santos, Davi Antonio, Sandoval Góes, Luiz Carlos

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 757 KB

english, 2015

29

An Architecture for Navigation of Service Robots in Human-Populated Office-like Environments**This work was supported by Fundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG). Arthur Araujo and Guilherme Pereira are supported by Conselho Nacional de Desenvolvimento Científico e Tecnologico (CNPq), Brazil.

Araujo, Arthur R., Caminhas, Daniel D., Pereira, Guilherme A.S.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.47 MB

english, 2015

30

Decentralized Control of Cooperative Robotic Systems for Arbitrary Setpoint Tracking while Avoiding Collisions

Sabattini, Lorenzo, Secchi, Cristian, Levratti, Alessio, Fantuzzi, Cesare

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.13 MB

english, 2015

31

Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds

Muñoz-Vázquez, Aldo-Jonathan, Parra-Vega, Vicente, Sánchez-Orta, Anand

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.02 MB

english, 2015

32

A comparison between free motion planning algorithms applied to a quadruped robot leg

Potts, Alain Segundo, da Cruz, José Jaime

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 432 KB

english, 2015

33

Topology Control for Connectivity Maintenance in Cooperative Mobile Robot Networks

Carvalho, Sidney R.D., de Barros Correia, Filipe L., Moreno, Ubirajara F.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 575 KB

english, 2015

34

Control of a motorboat with the Transverse Function approach

Hamel, T., Samson, C.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 599 KB

english, 2015

35

Stable Model-Based Predictive Control for Wheeled Mobile Robots using Linear Matrix Inequalities

Pitanga, Jonatas R., Araújo, Humberto X., Conceição, André G.S., Oliveira, Gustavo H.C.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 970 KB

english, 2015

36

Improving robustness in multi-robot networks**The authors thank FAPESP for the financial support to carry out this research (procs. no. 2012/25058-9 and 2014/13800-8).

Ghedini, Cinara, Secchi, Cristian, Ribeiro, Carlos H.C., Sabattini, Lorenzo

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 649 KB

english, 2015

37

Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: curvilinear coordinates approach (Part II)**The authors would like to thank Instituto Federal de Educação, Ciência e Tecnologia da Bahia (IFBA) and Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES), all of them of Brazil, for the research grant, financial support and study fellowship.

Peña Fernández, C.A., Cerqueira, J.J.F., Lima, A.M.N.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 873 KB

english, 2015

38

SLAM-Based Spatial Memory for Behavior-Based Robots

Jiang, Shu, Arkin, Ronald C.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 887 KB

english, 2015

39

Work Flow, Material Handling and Initial Part Positioning in a Multi-Robot Sewing Cell

Schrimpf, Johannes, Lind, Morten, Mathisen, Geir

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 983 KB

english, 2015

40

Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: curvilinear coordinates approach (Part I)**The authors would like to thank Instituto Federal de Educação, Ciência e Tecnologia da Bahia (IFBA) and Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES), all of them of Brazil, for the research grant, financial support and study fellowship.

Peña Fernández, C.A., Cerqueira, J.J.F., Lima, A.M.N.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 590 KB

english, 2015

41

Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints

Dallali, Houman, Lee, Jinoh, Tsagarakis, Nikos G., Caldwell, Darwin G.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 1.16 MB

english, 2015

42

Robotics as a Tool for Physiotherapy and Rehabilitation Sessions**Authors acknowledge the financial support from FAPES, CAPES and CNPq.

Valadao, Carlos T., Loterio, Flavia, Cardoso, Vivianne, Bastos, Teodiano, Frizera-Neto, Anselmo, Carelli, Ricardo

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 866 KB

english, 2015

43

Towards Virtual Presence Based on Multimodal Man-Machine Communication: A Remote Operation Support System for Industrial Robots

Thomessen, Trygve, Niitsuma, Mihoko, Suzuki, Keita, Hatano, Takashi, Hashimoto, Hideki

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 948 KB

english, 2015

44

Development and Control of a Prototype Manipulator SCARA Type as Teaching Tool

da S. Neto, Miguel B., de Mendonça, Julyandryos M.C., de Sena, Alexander P.C.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 719 KB

english, 2015

45

Etho-robotics: What kind of behaviour can we learn from the animals?

Korondi, Péter, Korcsok, Beáta, Kovács, Szilveszter, Niitsuma, Mihoko

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 759 KB

english, 2015

46

Mission Assignment for Multi-Vehicle Systems in Industrial Environments**This paper is written within PAN-Robots project. The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement n. 314193.

Sabattini, Lorenzo, Digani, Valerio, Lucchi, Matteo, Secchi, Cristian, Fantuzzi, Cesare

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 975 KB

english, 2015

47

Improved Implementation of Nonlinear Analytical Redundancy Relations: Application in Robotics**Funded by: II-UNAM, IT100414-DGAPA-UNAM,CONACyT

Villanueva, A., Verde, C., Torres, L.

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 437 KB

english, 2015

48

Adaptive Robust Backstepping Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation**This work is supported by National Natural Science Foundation of China (No.51475412 and No.51375432), Science Fund for Creative Research Groups of National Natural Science Foundation of China (No.51221004), the National Basic Research and Development Program of China under 973 Program Grant 2013CB035400 and SANLIAN (SHANGHAI) GROUP (No.H20131864).

Chen, Shan, Yao, Bin, Zhu, Xiaocong, Chen, Zheng, Wang, Qingfeng, Zhu, Shiqiang, Song, Yang

Journal:

IFAC-PapersOnLine

Year:

2015

Language:

english

File:

PDF, 691 KB

english, 2015

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