Kinematic and Dynamic Issues in Sensor Based Control

This volume contains papers presented at the NATO Advanced Research Workshop (ARW) held at Il Ciocco, Italy, in October 1987. The volume results from the activities of the NATO Special Scientific Programme on Sensory Systems for Robotic control. Most of the contributors are recognized leaders in their fields, some from the robotics community, others with a more general background. The main topics covered are: - Modeling techniques: general kinematic and dynamic issues - Sensor signal processing - Force control - Further control topics - Vision based control - Further kinematic and dynamic issues - Computational issues - Learning from sensor input. Also included are brief reports of the roundtable discussions which sought to determine important directions of research in this area.