Braitenberg Vehicles
In 1984 Valentino Braitenberg published a book titled Vehicles—Experiments in Synthetic Psychology. In his book Valentino describes a number of wondrous vehicles that exhibit interesting behaviors based on the use of a few electronic neurons Similar in concept to Walter’s seminal neural work with his robot tortoises, Valentino’s vehicle behavior is more straightforward, making it somewhat easier to follow both theoretically and logically. This also makes it easier to implement his ideas into real designs for robots. In this chapter we will build a few Braitenberg…
Architecture of Hybrid Position/Force Control System
Based on Mason’s Principle, a hybrid position/force control system can be constructed…
Lagrangian Formulation of Robot Dynamics
Lagrangian Dynamics In the Newton-Euler formulation, the equations of motion are derived…
Physical Interpretation of the Dynamic Equations
In this section, we interpret the physical meaning of each term involved…
Duality of Differential Kinematics and Statics
We have found that the equivalent joint torques are related to the…
Statics
Robots physically interact with the environment through mechanical contacts. Mating work pieces…
