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1、 VII. References 1 2 Alexander, R. McNeill, “Elastic Mechanisms in Animal Movement”, Cambridge University Press, 1988. Angle, C.M. and Brooks, R.A., “Small Planetary Rovers”, IEEE International Workshop on Intelligent Robots and Systems, Tsuchiura, Japan, July 1990 pp. 383-388. Asada, H. and Kanade,

2、 T. “Design of Direct-Drive Mechanical Arms”, ASME J. of Vibration, Acoustics, Stress, and Reliability in Design 105(3, pp. 312-316. Balas, Mark J., “Active Control of Flexible Systems”, Proc. of the 1977 Symposium on Dynamics and Control of Large Flexible Spacecraft, June 13-15, 1977, Blacksburg, V

3、A pp 217-236. Brooks, R.A. and Stein, L.A., “Building Brains for Bodies”, to appear in Autonomous Robots, (1:1, 1994. Brooks, R.A., “The L Manual”, MIT AI Lab Internal, 1994. Cannon, Robert H. Jr., and Rosenthal, Dan E., “Experiments in the Control of Flexible Structures with Noncolocated Sensors an

4、d Actuators”, J. Guidance, Vol. 7 No. 5 pp. 546-553, Sept.-Oct. 1984. Cannon, Robert H. Jr., and Schmitz, E., “Initial Experiments on the End-Point Control of a Flexible OneLink Robot”, Int. J. of Robotics Research, Vol. 3 No. 3 (1984 pp 62-75. Eppinger, Steven D., and Seering, Warren P., “Three Dyn

5、amic Problems in Robot Force Control”, IEEE Intl. Conf. on Robotics and Automation, 1989, pp 392 - 397. Eppinger, Steven D., and Seering, Warren P., “Understanding Bandwidth Limitation in Robot Force Control”, IEEE Int. Conf. on Robotics and Automation, April 1987. Hashimoto, Minoru, and Imamura, Yu

6、ichi, “An Instrumented Compliant Wrist Using a Parallel Mechanism”, Japan/USA Symp. on Flexible Automation, V. 1 ASME 1992, pp 741-744. Hogan, N., “Impedance Control: An Approach to Manipulation: Part I - Theory, Part II - Implementation, Part III - Applications”, J. of Dyn. Syst., Measurement Contr

7、., 107:1-24 (1985 Hogan, Neville, “On the Stability of Manipulators Performing Contact Tasks”, IEEE J. of Robotics and Automation, V4 N6, Dec. 1988, pp 677-686. Hogan, Neville, and Colgate, Ed, “An Analysis of Contact Instability in term of Passive Physical Equivalents”, IEEE Intl. Conf. on Robotics

8、 and Automation, 1989, pp 404-409. 15 16 17 3 18 19 20 4 5 21 6 7 22 8 23 24 9 Hunter, Ian W., Hollerbach, John M., and Ballantyne, John, “A comparative analysis of actuator technologies for robotics”, Robotics Review 2, MIT Press, 1991. Khatib, O., “Real Time Obstacle Avoidance for Manipulators and

9、 Mobile Robots”, Int. J. of Robotics Res. V5 N1 (1986. Morrell, John B., and Salisbury, J. K., “Parallel Coupled Actuators for High Performance Force Control: A Micro-Macro Concept”, Submitted to IROS 95. Raibert, M. H., “Legged Robots That Balance.” Cambridge, Mass.: MIT Press (1986. Readman, Mark

10、C., “Flexible Joint Robots”, CRC Press, 1994. Salisbury, K., Eberman, B., Levin, M., and Townsend, W., “The Design and Control of an Experimental Whole-Arm Manipulator”, Proc. 5th Int. Symp. on Robotics Research. (1989 Spong, M. W., “Modeling and Control of Elastic Joint Robots”, Trans. of the ASME,

11、 Vol 109, Dec. 1987, pp 310-319. Sugano, S., Tsuto, S., and Kato, I., “Force Control of the Robot Finger Joint equipped with Mechanical Compliance Adjuster”, Proc. of the 1992 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1992, pp 2005-2013. Whitney, Daniel E., “Force Feedback Control of Manipulator Fine Motions”, J. Dyn. Syst. Measurement Contr. 98

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