DYNAMICS AND ROBUST CONTROL OF ROBOT-ENVIRONMENT INTERACTION

Dynamics and Robust Control of Robot-Environment Interaction

Volumn , Issue , 2009, Pages 1-638

  Vukobratovic, Miomir ^a   Surdilovic, Dragoljub ^b   Ekalo, Yury ^c   Katic, Dusko ^a  

^a MIHAJLO PUPIN INSTITUTE   (Serbia)

^b FRAUNHOFER INSTITUTE FOR PRODUCTION SYSTEMS AND DESIGN TECHNOLOGY IPK   (Germany)

^c SAINT PETERSBURG ELECTROTECHNICAL UNIVERSITY LETI   (Russian Federation)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 85200430601     PISSN: None     EISSN: None     Source Type: Book    
DOI: None     Document Type: Book

References (382)

1. Mason, M.T., Compliance and Force Control for Computer Controlled Manipulators, IEEE Transactions on Systems, Man and Cybernetics, Vol. SMC-11, No. 6, 418-432, 1981.
2. Pfeifer, F., Richter, K., Wapenhans H., Elastic Robot Trajectory Planning with Force Control, Proceedings, IFIP International Symposium on Theory of Robots, Rome, 201-212, 1990.
3. Whitney, D.E., Nevins J.L., What is Remote Centre Compliance (RCC) and What Can It Do, in Robot Sensors Volume 2-Tactile and Non-Vision, IFS Publication, Springer-Verlag, Berlin, 3-17, 1986.
4. Cutkosky M.R., Wright P.K, Active Control of a Compliant Wrist in Manufacturing Tasks, in Robot Sensors Vol. 2-Tactile and Non-Vision, IFS Publication, Springer-Verlag, Berlin, 17-33, 1986.
5. Simons J., Van Brussel H., Force Control Schemes for Robot Assembly, International Trends in Manufacturing Technology: Robotic Assembly, IFS Publication, Springer-Verlag, Berlin, 1985.
6. Whitney D.E., Historical Perspective and State of the Art in Robot Force Control, The Inter. Journal of Robotic Research, Vol. 6, No.1, 3-14, 1987.
7. Raibert M.H., Craig J.J., Hybrid Position/Force Control of Manipulators, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 102, 126-133, 1981.
8. Vukobratovic M., Ekalo, Y., Unified Approach to Control Laws Synthesis for Robotic Manipulators in Contact with Dynamic Environment, Tutorial S5: Force and Contact Control in Robotic Systems, Proc. IEEE, Int. Conference on Robotics and Automation, 213-229, 1993.
9. Chiaverini S. and Sciavicco L., Force/Position Control of Manipulators in Task Space with Dominance in Force, Proceedings of 2nd IFAC Symposium on Robot Control (SYROCO), Karlsruhe, 137-143, 1988.
10. Wedel D.L., Saridis G.N., An Experiment in Hybrid Position/Force Control of a Six DOF Revolute Manipulator, Proceedings of IEEE International Conference on Robotics and Automation, 1638-1642, 1988.
11. Yoshikawa T., Sugie T., Tanaka M., Dynamic Hybrid Position/Force Control of Robot Manipulators-Controller Design and Experiment, IEEE Journal of Robotics and Automation, Vol.4, No. 6, 693-705, 1988.
12. Anderson R., Spong M., Hybrid Impedance Control of Robotic Manipulators, IEEE Journal of Robotics and Automation, Vol. 4, No. 5, 549-556, 1988.
13. De Schutter J., Van Brussel H., Compliant Robot Motion II: A Control Approach Based on External Control Loops, The International Journal of Robotic Research, Vol. 7, No. 4, 18-33, 1988.
14. Lawrence D.A., Impedance Control Stability Properties in Common Implementations, Proc. IEEE International Conference on Robotics and Automation, Vol. 2, 1185-1190, 1988.
15. Maples J.A., Becker J.J., Experiments in Force Control of Robotic Manipulators, Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 2, 695-703, 1986.
16. Kazerooni H., Waibel B.J., Kim S., On the Stability of Robot Compliant Motion Control: Theory and Experiments, Journal of Dynamics, Systems, Measurement and Control, Vol. 112, No. 3, 417-426, 1990.
17. Salisbury J.K., Active Stiffness Control of a Manipulator in Cartesian Coordinates, Proceedings 19th IEEE Conference on Decision and Control, 95-100, 1980.
18. Whitney D.E., Force Feedback Control of Manipulator Fine Motions, ASME J. of Dynamics, Systems, Measurement and Control, Vol. 99, No. 2, 91-97, 1977.
19. Hogan N., Impedance Control: An Approach to Manipulation, Part I-Theory, Part IIImplementation, Part III-Application, Journal of Dynamics Systems, Measurement and Control, Vol. 107, No. 1, 1-24, 1985.
20. Kazerooni K.H., Sheridan T., Houpt P., Robust Compliant Motion for Manipulators, Part I: The Fundamental Concepts of Compliant Motion; IEEE Journal of Robotics and Automation, Vol. RA-2, No. 2, 83-92, 1986.
21. Eppinger S.D., Seering W.P., Understanding Bandwidths Limitation in Robot Force Control, Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, NC, 904-909, 1987.
22. Khatib O., A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation, IEEE Journal of Robotics and Automation, Vol. 3, No.1, 43-53, 1987.
23. De Luca A., Manes C., Nicolo F., A Task Space Decoupled Approach to Hybrid Control of Manipulators, Proc. IFAC SYROCO '88, Karlsruhe, 157-162, 1988.
24. Lipkin H, Duffy J., Hybrid Twist and Wrench Control for a Robotic Manipulator, Trans. ASME Journal of Mech., Trans. and Aut. in Design, Vol. 110, No. 2, 138-144, 1988.
25. De Shutter J., Bruyninckx H., Model-based Specification and Execution of Compliant Motion, Tutorial M6, IEEE Conference on Robotics and Automation, ICRA’92 Nice, 74-84, 1992.
26. Zhang H., Paul R., Hybrid Control of Robot Manipulator, Proc. of IEEE Int. Conf. on Robotics and Automation, 602-607, 1985.
27. Daneshmend L., Hayward V., Pelletier M., Adaptation to Environment Stiffness in the Control of Manipulators, Experimental Robotics I, (Hayward V. and Khatib O. Eds.), Springer-Verlag, Berlin, 150-156, 1990.
28. Stokic D., Vukobratovic M., Surdilovic D., An Adaptive Hybrid Control Scheme for Manipulation Robots with Implicit Force Control, Proc. V ICAR, Pisa, 1505-1508, 1991.
29. Kazerooni K.H., Sheridan T., Houpt P., Robust Compliant Motion for Manipulators, Part II Design Method, IEEE Journal of Robotics and Automation, Vol. RA-2, No. 2, 93-106, 1986.
30. Dawson D.M., Lewis F.L., Dorsey J.F., Robust Force Control of a Robot Manipulator, The Int. Journal of Robotic Research, Vol. 11, No.4, 312-319, 1992.
31. Shin K.G., Lee C.P., Compliant Control of Robotic Manipulators with Resolved Acceleration, Proceedings of 24th IEEE Conference on Decision and Control, Vol. 1, 350-357, 1985.
32. Mc Clamroch H., Wang D., Feedback Stabilization and Tracking of Constrained Robots, IEEE Transaction on Automatic Control, Vol. 33, No. 5, 419-426, 1988.
33. Vukobratovic, M., Ekalo, Y., New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment, Robotica, Vol. 14, 31-39, 1996.
34. Hogan N., On the Stability of Manipulator Performing Contact Tasks, IEEE Journal of Robotics and Automation, Vol. 4., No. 6, 677-686, 1990.
35. An C.H., Hollerbach J.M., The Role of Dynamic Models in Cartesian Force Control, The Int. Jour. on Rob. Research, Vol. 8., No. 4, 51-72, 1989.
36. Kircanski N., Computational Aspects of Force/Impedance Control Algorithms, Tutorial S5: Force and Contact Control in Robotic Systems (Ed. Vukobratovic M. and Nakamura Y., IEEE International Conference on Robotics and Automation, 33-48, 1993.
37. De Luca A., Manes C., Modeling of Robots in Contact with a Dynamic Environment, IEEE Transactions on Robotics and Automation, Vol. 10, No. 4, 542-548, 1994.
38. Goldenberg A.A., Force and Impedance Control of Robot Manipulators, Proceedings Winter Annual Meeting of ASME, 161-168, 1987.
39. Sharon A., Hogan N., Hardt D., More Analysis and Experimentation of a Micro/Macro Manipulator System, Proc. ASME Winter Annual Meeting, Boston, 417-422, 1987.
40. Vukobratovic M., Stojic R., On Position-Force Control of Robot Interacting with Dynamic Environment in Cartesian Space, Journal of Dynamic Systems, Measurement and Control, Vol. 118, 187-192, 1996.
41. Goldenberg A.A., Analysis of Force Control Based on Linear Models, Proceedings of IEEE International Conference on Robotics and Automation, Nice, 1348-1353, 1992.
42. Surdilovic D., Contact Stability Issues in Position-based Impednace Control: Theory and Experiments, Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, 1675-1680, 1996.
43. DeFazio T.L., Seltzer D.S., Whitney D.E., The IRCC Instrumented Remote Center Compliance, in International Trends in Manufacturing Technology: Robotic Assembly, IFS Publications, Springer-Verlag, 33-45, Berlin, 1985.
44. Lee S., Lee H.S., Generalized Impedance of Manipulators: Its Application to Force and Position Control, Proc. Fifth International Conference of Advanced Robotics ICAR’91, 1477-1480, 1991.
45. Lu Z., Goldenberg A.A., Robust Impedance Control and Force Regulation: Theory and Experiments, The International Journal of Robotics Research, Vol. 14. No. 3, 225-237, 1995.
46. Hogan N., Stable Execution of Contact Tasks Using Impedance Control, Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, 1047-1054, 1987.
47. Vukobratovic M., Stokic D., Kircanski N., Non-Adaptive and Adaptive Control of Manipulation Robots, Monograph, Scientific Fundametals of Robotics 5, Springer-Verlag, Berlin, 1985.
48. Visher D., Khatib O., Design and Development of Torque-controlled Joints, Proceedings of The First International Symposium on Experimental Robotics, 271-276, 1989.
49. Vukobratovic M., Surdilovic D., Control of Robotic Systems in Contact Tasks, Chapter 21 in The Mechanical Systems Design Handbook: Modeling, Measurement and Control (Ed. Nwokah O.I. and Hurmuzlu Y.), CRC Press, Boca Raton, 2002.
50. Craig J.J., P. Hsu, S. S. Sastry, Adaptive Control of Mechanical Manipulators, The International Journal of Robotic Research, Vol. 6, No.2, 16-28, 1987.
51. Al-Jarrah O.M., Zheng Y.F., Intelligent Compliant Motion Control, Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, Vol. 3, 2610-2615, 1996.
52. Paul and R.P., Shimano B, Compliance and Control, Proceedings of. Joint Automatic Control Conference, San Francisco, 694-699, 1976.
53. Stokic D.M., Surdilovic D.T., Position/Force Control of Industrial Robots: Implementation Problems, Report IPK-Berlin, 1990.
54. An C.H., Hollerbach J., Kinematic Stability Issues in Force Control of Manipulators, Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, 897-903, 1987.
55. Zhang H., A Kinematically Stable Hybrid Control Formulation, Proc. of the Third International Symposium ISRAM '90, British Columbia, 287-292, 1990.
56. Fisher W.D., Mujtaba M.S., Hybrid Position/Force Control: A Correct Formulation, The International. Journal of Robotics Research, Vol. 11, No. 4, 299-311, 1992.
57. An C.H., Hollerbach J., Dynamic Stability Issues in Force Control of Manipulators, Proceedings. of IEEE International Conference on Robotics and Automation, Raleigh, 890-896, 1987.
58. Luh J.Y.S., Fisher W.D., Paul R.P.C., Joint Torque Control by a Direct Feedback for Industrial Robots, IEEE Trans. on Automatic Control, Vol. AC-28, No. 2, 153-161, 1983.
59. Bona B., Indri M., Exact Decoupling of the Force-Position Control Using the Operational Space Formulation, Proceedings of IEEE International Conference on Robotics and Automation, 1394-1398, Nice, 1992.
60. Volpe R., Khosla P., An Experimental Evaluation and Comparison of Explicit Control Strategies for Robotic Manipulators, Proc. of IEEE Int. Conference on Robotics and Automation, Nice, 1387-1393, 1992.
61. Stokic D.M., Surdilovic D.T., Simulation and Control of Robotic Deburring, International Journal of Robotics and Automation, Vol. 5, No. 3, 107-115, 1990.
62. Yoshikawa T., Sudou A., Dynamic Hybrid Position/Force Control of Robot Manipulators: Estimation of Unknown Constraint, Proceedings of IEEE International Conf. on Robotics and Automation, Cincinnati, 1231-1236, 1990.
63. Bruyninckx H., De Schutter J., Allota B., Model-Based Constrained Motion: Introducing On-Line Identification and Observations of Motion Constraints, Proceedings of. Fifth International Conference of Advanced Robotics, ICAR’91, Pisa, 976-981, 1991.
64. Sinha P., Goldenberg A.A., A Unified Theory for Hybrid Control of Manipulators, Proceedings of IEEE International Conference on Robotics and Automation, Atlanta, Vol. 1, 343-348, 1993.
65. Volpe R., Khosla P., The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control, The International Journal of Robotics Research, Vol. 14, No. 6, 574-589., 1995.
66. Surdilovic D., Kirchhof J., A New Position Based Force/Impedance Control for Industrial Robots, Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 629-634, 1996.
67. Mayeda H., Ikeda N., Miyaji K., Position/Force/Impedance Control for Robot Tasks, Proceedings of the Second ISMCR’92, Tsukuba, Japan, 551-558, 1992.
68. Chiaverini S., Sicilliano B., Villani L., Force/Position Regulation of Compliant Robot Manipulators, IEEE Transactions on Automatic Control, Vol. 39, No. 3, 647-652, 1994.
69. Vukobratovic M., Stojic R., Ekalo Y., Contribution to the Position-Force Control of Manipulation Robots Interacting with Dynamic Environment-A Generalization, IFAC Automatica, Vol. 34, No. 10, 1219-1226, 1998.
70. Colgate J. E., Hogan M., Robust Control of Dynamically Interacting Systems, International Journal of Control, Vol. 48, No. 1, 65-88, 1988.
71. Chapel J.D., Su R., Coupled Stability Characteristics of Nearly Passive Robots, Proceedings of IEEE International Conference on Robotics and Automation, Nice, 1342-1346, 1992.
72. Colgate J. E., Hogan N., An Analysis of Contact Instability in Terms of Passive Physical Equivalents, Proceedings of IEEE Int. Conference on Robotics and Automation, 404-409, 1989.
73. Newman W. S., Stability and Performance Limit of Interaction Controllers, Trans. of the AMSE Journal of Dynamic Systems, 114, No. 4., 65-88, 1992.
74. Dohring M. and Newman W., “Admittance Enhancement in Force Feedback of Dynamic Systems”, Proc. of ICRA, Washington DC, 638-643, 2002.
75. Buerger S. P. and Hogan N., Relaxing Passivity for Human-Robot Interaction, Proceedings of the Int. Conference on Intelligent Robot and Systems, Beijing, 4570-4575, 2006.
76. Surdilovic D., Robust Control Design of Impedance Control for Industrial Robots, Proceedings of IROS’07, San-Diego, 3572-3579, 2007.
77. Surdilovic D., Radojicic J., 2007, Robust Control of Interaction with Haptic Interfaces, Proceedings of ICRA’07, Rome, 3237-3244, 2007.
78. Benady M., Flash T., Gershon D., Robot Learning of Contact Tasks, in Robotic Systems and AMT, (Editors Halevi G., Yudilevich I., and Weill I.), Elsevier Science Publishers, Amsterdam 147-159, 1990.
79. Xu Y., Paul R.P., Corke P. I., Hybrid Position Force Control of Robot Manipulator with an Instrumented Compliant Wrist, Proceedings of First International Symposium on Experimental Robotics, Springer-Verlag, Berlin, 244-271, 1990.
80. Quian H.P., De Schutter J., Introducing Active Linear and Nonlinear Damping to Enable Stable High Gain Force Control in Case of Stiff Contact, Proc. of IEEE International Conf. on Robotics and Automation, Nice, 1374-1379, 1992.
81. Siciliano B., Villani L., A Force/Position Regulator for Robot Manipulators Without Velocity Measurements, Proceedings of IEEE International Conference on Robotics and Automation, Minnesota, 2567-2572, 1996.
82. De Quieroz M., Dawson D., Burg T., Position/Force Control of Robot Manipulators without Velocity/Force Measurements, Proceedings of IEEE International Conf. on Robotics and Automation, Minnesota, 2561-2566, 1996.
83. Mills J., Lokhorst D., Control of Robotic Manipulators During General Task Execution: A Discontinuous Control Approach, The International Journal of Robotic Research, Vol. 12, No. 2, 146-162, 1993.
84. Wu Y., Tarn T.J., Xi N., Isidori A., On Robust Impact Control via Positive Acceleration Feedback for Robot Manipulators, Proceedings of the IEEE International Conf. on Robotics and Automation, Minneapolis, 1891-1896, 1996.
85. Volpe R., Khosla P., A Theoretical and Experimental Investigation of Impact Control for Manipulators, The International Journal of Robotics Research, Vol. 12, No. 4, 351-365, 1993.
86. D.M. Gorinevsky, A.M. Formalsky, A.Y. Shneider, Force Control of Robotic Systems, CRC Press, 1997.
87. Eppinger S.D., Seering W.P., Introduction to Dynamic Robot Models for Robot Force Control, IEEE Control System Magazine, Vol. 7, No. 2., 48-52, 1987.
88. Vukobratovic M., The Role of Environment Dynamics in Contact Force Control of Manipulation Robots, ASME Journal Dynamic Systems, Measurement, and Control, Vol. 119, 86-89, 1997.
89. Ekalo Y., Vukobratovic M., Robust and Adaptive Position-Force Stabilization of Robotic Manipulators in Contact Tasks, Robotica, Vol. 11, 373-386, 1993.
90. Ekalo Y., Vukobratovic M., Adaptive Stabilization of Motion and Forces in Contact Tasks for Robotic Manipulators with Nonstationary Dynamics, International Journal Robotics and Automation, Vol. 9., No. 3, 91-98, 1994.
91. Ekalo Y., Vukobratovic M., Quality of Stabilization of Robot Interacting with Dynamic Environment, Journal of Intelligent and Robotic Systems, Vol. 14, 155-179, 1995.
92. Vukobratovic M., Katic D., Robust Stabilizing Position-Force Control of Robots Interacting with Dynamic Environment by Learning Connectionist Structure, IFAC Automatica, Vol. 32, No. 12, 1733-1739, 1996.
93. Stokic D., Vukobratovic M., Practical Stabilization of Robots Interacting with Dynamic Environment by Decentralize Control, Int. J. on Robotics and Automation, Vol. 13, Issue 4, 137-146, 1998.
94. Stokic D., Vukobratovic M., An Improved Method for Analysis of Practical Stability of Robots Interacting with Dynamic Environment, Int. J. Izvestya of Russian Academy of Science: Theory and Control Systems, No.4, 186-192, 2000.
95. Fasse E., Broenink F.J., A Spatial Impedance Controller for Robotic Manipulation, IEEE Trans. on Robotics and Automation, Vol. 13, 546-556, 1997.
96. Selig J.M., The Spatial Stiffness Matrix from Simple Stretched Springs, Proceedings of the 2000 ICRA, San Francisco, 3314-3319, 2000.
97. Siciliano B., Villani L., Six-Degree-of-Freedom Impedance Robot Control, Proceedings of the 8th ICAR, Monterey, 387-392, 1997.
98. Caccavale F., Siciliano B., Villani L., Robot Impedance Control with Nondiagonal Stiffness, IEEE Transactions on Automatic Control, Vol. 44, 1943-1946, 1999.
99. Caccavale F., Natale C., Siciliano B., Villani L., Six-dof Impedance Control Based on Angle/Axis Representations, IEEE Transactions on Robotics and Automation, Vol. 15, No. 2, 289-300, 1997.
100. Schimmels J.M. and Peshkin M.A., “Force-assembly with Friction”, IEEE Transaction on Robotics and Automation, Vol. 10, No. 4, 465-479, 1994.
101. Huang S. and Schimmels J., “Admittance Selection for Force-Guided Assembly of Polyhedral Parts in Single-Point Contact”, Proccedings of the 20004 Int. Conference on Robotics and Automation, New Orleans, Louisiana, 3577-3582, 2004.
102. Surdilovic D., Synthesis of Impedance Control Laws at Higher Control Levels: Algorithms and Experiments, Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 306-311, 1998.
103. Surdilović D., Bernhardt R., Colombina G., Grassini F., A Space Robot Control with Advanced Sensor-Based Capabilities: Terrestrial Spin-off, 27th ISIR, Milan, pp. 243-248, 1996.
104. Adams R., Hannaford B, Stable Haptic Interaction with Virtual Environments, IEEE Trans. on Robotics and Automation, Vol. 15, No. 3, 465-474, 1999.
105. Hogan N., Controlling Impedance at the Man/Machine Interface, Proceedings of IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, 1626-1631, 1989.
106. Burdet E., Osu R., Franklin D., Millner T., Kawato M., The central nervous system stabilizes unstable dynamics by learning optimal impedance, Nature, Vol. 414, 446-449, 2001.
107. Colgate J. E., Stanley M.C., Brown J.M., Issues in the Haptic Display of Tool Use, Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, Pitsburgh, PA, 140-145, 1995.
108. Colgate J. E., Brown J.M., Factors Affecting the Z-Width of a Haptic Display, Proceedings of IEEE International Conference on Robotics and Automation, San Diego, 3205-3210, 1994.
109. Colgate J. E., Schenkel G.G., Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces, Proceedings American Control Conference, Baltimore, 3236-3240, 1994.
110. Brown M., Colgate E., Minimum Mass for Haptic Display Simulations, DSC-Vol. 64, Proceedings of the ASMEDynamic Systems and Control Division, ASME, 249-256, 1998.
111. Adams R., Stable Haptic Interaction With Virtual Environment, Ph. D. Thesis, University of Washington, 1999.
112. Miller B., Colgate E., Freeman R., Guaranteed Stability of Haptic Systems with Nonlinear Virtual Environments, IEEE Transaction on Robotics and Automation, Vol. 16, Nr. 3, 712-719, 2000.
113. Hannaford B., Ryu J-H., Time Domain Passivity Control of Haptic Interfaces, Proceedings of IEEE International Conference on Robotics and Automation, Seoul, Korea, 1863-1869, 2001.
114. Baptista L.F., Sousa J.M., de Costa J.S., Force Control of Robotic Manipulators Using a Fuzzy Predictive Approach, Journal of Intelligent and Robotic Systems, Vol. 20, 359-376, 2001.
115. Lin S.T., Tzeng S.J., Neural Network Force Control for Industrial Robots, Journal of Intelligent and Robotic Systems, Vol. 20, 253-268, 1999.
116. Fasse E., Gosselin C., Spatial-Geometric Impedance Control of Gough-Stewart Platforms, IEEE Trans. on Robotics and Automation, Vol. 15, 281-288, 1999.
117. Surdilovic D., De Bartolomeo M., Grassini F., Synthesis of Impedance Control for Complex Co-operating Robot Assembly Tasks, Proceedings AIM’01 Conference, Como, Italy, 2001, 1181-1187, 2001.
118. Morizono T., Kurahashi K., Kawamura S., Realization of Virtual Sports Training System with Parallel Wire Mechanism, Proceedings ICRA 97', Alberquerque, New Mexico, 3025-3030, 1997.
119. Hirzinger G., Albu-Schäffer A., Hähnle M., Schaefer I., Sporer N., On a New Generation of Torque Controlled Light-Weight Robots, Proceedings of 2001 ICRA, Seoul, Korea, 3356-3361, 2001.
120. Stramigioli S., Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-free Approach, Springer-Verlag, Berlin, 2001.
121. Ott C., Albu-Schäffer A., Kugi A., Stramigioli S. and Hirzinger G., A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots-Part I: Torque Feedback and Gravity Compensation, Proccedings of the 20004 Int. Conference on Robotics and Automation, New Orleans, Louisiana, 2659-2665, 2004.
122. Albu-Schäffer A., Ott C. and Hirzinger G., A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots-Part II: Full State Feedback, Impedance Design and Experiments, Proccedings of the 20004 Int. Conference on Robotics and Automation, New Orleans, Louisiana, 2666-2672, 2004.
123. Rembold U., Burghart C., Surgical Robotics: An Introduction, Journal of Intelligent and Robotic Systems, Vol. 30, 1-28, 2001.
124. Chung P.H., Impedance Control and Modulation for Stable Footing in Locomotion of Biped Robots, Proc. ICRA 99, Detroit-Michigan, 1786-1791, 1999.
125. Silva F.M., Machado T.J.A., Goal-Oriented Biped Walking Based on Force Interaction Control, Proceedings of 2001 ICRA, Seoul, Korea, 4122-4127, 2001.
126. Hannaford B., Feeling is Believing: History of Telerobotics Technology, in The Robot in the Garden: Telerobotics and Telepistemology in the Age of the Internet (Ed. K. Goldberg), MIT Press, 1999.
127. Reinkensmeyer D.J., Rehabilitators, in Biomedical Engineer’s Handbook (Ed. M. Kutz), McGraw Hill, 2002.
128. Kazerooni H., A New Dimension in Robotics for Automobile Assembly: The Return of the Worker, Proceedings 6th Annual Symposium on Haptic Interfaces for Virtual Environment and Telemanipulator Systems, Dallas, Texas, 214-222, 1997.
129. Chiaverrini, Siciliano B., Villani L., A Survey of Robot Interaction Control Schemes with Experimental Comparison, IEEE/ASME Transactions on Mechatronics, Vol. 4, No. 3, 273-285, 1999.
130. De Schutter J., Bruyninckx H., Zu W-H., Spong M.W., Force Control: A bird’s eye view, in Control Problems in Robotics and Automation, Lecture Notes in Control and Information Sciences, Springer-Verlag, Berlin, Vol. 230, 1-17, 1998.
131. Natale C., Koeppe R, Hirzinger G., An Automatic Procedure for Force Controller Design, IEEE Transaction on Mechatronics, Vol. 05, No. 02, 122-132, 2000.
132. Surdilovic D., Impedance Control Design Toolbox-User’s Guide, IPK-Berlin, 2000.
133. Siciliano B., Villani L., Robot Force Control, Kluwer Academic Publishers, Boston, MA, 2000.
134. Natale C., Interaction Control of Robot Manipulators: Six-degrees-of-Freedom Tasks, Series: Springer Tracts in Advanced Robotics, Vol. 3, Springer-Verlag, Berlin, 2003.
135. Yoshikawa T., Force Control of Robot Manipulators, Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco
136. Nakabo Y. and Ishikawa M., Visual Impedance Using 1ms Visual Feedback systems, Proceedings of the 1998 Int. Conference on Robotics & Automation, Leuven, Belgium, 2333-2338, 1998.
137. Raibert M.H. and Craig J.J., Hybrid Position/Force Control of Manipulators Trans. ASME J. of Dynamic Systems, Measurement and Control 102, No 3, 126-133, 1981.
138. Mason, M.T., Compliance and Force Control for Computer Controlled Manipulators, IEEE Transactions on Systems, Man and Cybernetics, Vol. SMC-11, No. 6, 418-432, 1981.
139. Nakamura Y., Advanced Robotics: Redundancy and Optimization, Addison-Welsley Publishing Company Inc., Massachusetts, 1991.
140. Vukobratovic M., Applied Dynamics of Manipulation Robots, Springer-Verlag, Berlin, 1989.
141. De Luca A., Manes C., Modeling of Robots in Contact with Dynamic Environment, IEEE Trans. on Robotics and Automation, Vol. 10, No. 4, 1994.
142. Ekalo Y., Vukobratovic M., Robust and Adaptive Position/Force Stabilization of Robotic Manipulators in Contact Tasks, Robotica, Vol. 11, 373-386, 1993.
143. Vukobratovic M., The Role of Environment Dynamics in the Position/Force Control of Manipulation Robots, ASME J. of Dynamic Systems, Measurement and Control, Vol. 119, pp 86-89, 1997.
144. Lurie L., Analytical Mechanics (in French), Masson & Cie, Paris, 1968
145. Timofeev A.V., Ekalo Y., Digital and Adaptive Control Systems of Robots (in Russian), Saint-Petersburg University Press, St. Petersburg, 1999.
146. Vukobratovic M., Ekalo Y., Unified Approach to Control Laws Synthesis for Robotic Manipulators in Contact with Dynamic Environment, Tutorial S5: Force and Contact Control in Robotic Systems, Proc. IEEE, Int. Conference on Robotics and Automation, 213-229, Atlanta, 1993.
147. Vukobratovic M., Ekalo Y., New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment, Robotica, Vol. 14, 31-39, 1996.
148. Pontryagin L. S., Boltayanskii V. G., Gamkrelidze R. V., Mishchenko E. F., The Mathematical Theory of Optimal Process, Wiley, 1967.
149. Demidovich B.P., Lectures on Mathematical Theory of Stability (in Russian), Nauka Publ., Moscow, 1967.
150. Lyapunov A.M., The General Problem of the Stability of Motion (in Russian) (Doctoral thesis, 1892), M.-L., GITTL, 1950.
151. Ekalo Y., Vukobratovic M., Adaptive Stabilization of Motion and Forces in Contact Tasks for Robotic Manipulators with Non-stationary Dynamics, International Journal Robotics and Automation, Vol. 9., No. 3, 91-98, 1994.
152. Ekalo Y., Vukobratovic M., Quality of Stabilization of Robot Interacting with Dynamic Environment, Journal of Intelligent and Robotic Systems, Vol. 14, 155-179, 1995.
153. Ekalo Y., Vukobratovic M., Stabilization of Robot Motion and Contact Force Interaction for Third-Order Motion Dynamics, Journal of Intelligent and Robotic Systems, Vol.10, 257-282, 1994.
154. Katic D., Vukobratovic M., A Neural Network Based Classification of Environment Dynamics Models for Compliant Control of Manipulation Robots, IEEE trans. on Systems, Man and Cybernetics, Part b, Vol. 28, No. 1, pp. 58-69, 1998.
155. Stokic D., Vukobratovic M., Practical Stability of Robots Interacting with Dynamic Environment by Decentralized Control, J. of Robotics & Automation, Vol. 13, 1998.
156. Stokic D., Vukobratovic M., An Improved Method for Analysis of Practical Stability of Robots Interacting with Dynamic Environment, Int. Jour. Izvestya of Russian Academy of Sciences: Theory and Control Systems, No 4, 2000.
157. Yakubovitch V.A., Finite-Convergent Algorithms of the Systems of Inequalities Solving and their Applications to the Tasks of Adaptive Systems Synthesis (in Russian), USSR Academy of Science Reports 189, No. 3, 495-498, 1969.
158. Timofeev A.V. & Ekalo Y.V., Stability and Stabilization of Programmed Motion of Robot-Manipulator (in Russian), Automatics and Remote Control, No.10, 148-156, 1976.
159. Vukobratovic M., Potkonjak V., Matijevic V., Dynamics of Robots with Contact Tasks, Book series: Microprocessor-Based and Intelligent Systems Engineering, Kluwer Academic Publisher, 2003.
160. Timofeev A.V. & Ekalo Y.V., The Industrial Robots Adaptive Control Systems, Proc. 20th ISIR, Tokyo, Japan, 1111-1116, 1989.
161. De Luca A. and Manes C., On the Modeling of Robots in Contact with Dynamic Environments, Proceedings of the 5-th International Conference on Advanced Robotics ICAR’91, (Pisa), 1991, pp. 568-574.
162. Vukobratovic M., Stojic R., Ekalo Y., Contribution to the Position/Force Control of Manipulation Robots Interacting with Dynamic Environment-A Generalization, IFAC Automatica, Vol. 34, No. 10, 1219-1226, 1998.
163. Bejczy A.K. Robot arm Dynamics and Control, NASA Technical Memorandum, JET Propulsion Lab, 33-669, 1974.
164. Pavlov V.A., Timofeev A.V., Calculation and Stabilization of Programmed Motion of a Robotic Manipulator, Technical Cybernetics, No.6, 91-101, 1976.
165. Kathib O., A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation, IEEE J. of R & A, Vol. RA-3, No 1, 1987.
166. Colgate J.E., Hogan N., Robust Control of Dynamically Interacting Systems, International Journal of Control, Vol. 48, No. 1, pp 65-88, 1988.
167. Patel R.V., Munro N., Multivariable System Theory and Design, Pergamon Press, Oxford, 1982.
168. Duffy J., The Fallacy of Modern Hybrid Control Theory that is Based on Orthogonal Complements of Twist and Wrench Spaces, Journal of Robotic Systems, Vol. 7, No 2, 1990.
169. Vukobratovic M., Ekalo Y., Rodic A., How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment, Intern. Journal of Engineering and Automation Problems, Moscow, No. 4, 12-16, 2001.
170. Vukobratovic M. K., Rodic A.G., Ekalo Y., Impedance Control as a Particular Case of the Unified Approach to the Control of Robots Interacting with a Dynamic Known Environment, Journal of Intelligent and Robotic Systems, Vol.18, 191-204, 1997.
171. Kelly R., Carelli R., Amestegui M. and Ortega R., On Adaptive Impedance Control of Robot Manipulators, Proceedings IEEE Conference on Robotics and Automation, 572-577, 1989.
172. Turk S. and Otter M., Das DFVLR Modell Nr. 1 des Industrieroboters Manutec r3, Roboter-systeme 3, 101-106, 1987.
173. Vukobratovic M. and Katic D., Robust Stabilizing Position/Force Control of Robots Interacting with Dynamic Environment by Learning Connectionist Structures, Journal of IFAC Automatica, January issue, 1997.
174. An, H.C., Hollerbach, M.J., Kinematic Stability Issues on Force Control of Manipulators, Proc. of IEEE International Conference on Robotics and Automation, Raleigh, NC, pp. 847-903, 1987.
175. An, H.C., Hollerbach, M.J., The Role of Dynamic Models in Cartesian Force Control of Manipulators, International Journal of Robotic Research, Vol. 8, No. 4, pp. 51-62, 1989.
176. Mc Clamorch H., Wang D., Feedback Stabilization and Tracking of Constrained Robots, IEEE Transaction on Automatic Control, Vol. 33, No 5, pp 419-426, 1988.
177. Eppinger S.D., Seering W.P., Introduction to Dynamic Models for Robot Force Control, IEEE Control Systems Magazine, Vol. 7, No. 2, pp. 48-52, 1987.
178. Hogan N., On the Stability of the Manipulator Performing Contact Task, IEEE Journal of Robotics and Automation, Vol. 8, No 6, pp. 677-686, 1988.
179. Kazerooni H., Waibwel J.B., Kim S., On the Stability of Robot Compliant Motion Control: Theory and Experiments, Trans. of ASME Journal of Dynamic Systems, Measurement, and Control. Vol. 112, pp 417-426, 1990.
180. De Luca, A. Mannes C., Hybrid Position Force/Control for Robots in Contact with Dynamic Environment, Proc. of Robot Control 1991 (SYROCO '91), Editors: Troch I., Desoyer K., and Kopacek P., Selected papers from the 3rd IFAC/IFIP, IMACS Symposium, Vienna, Pergamon Press, pp. 177-182.
181. Vukobratovic M., Stojic R., On Position/Force Control of Robot Interacting with Dynamic Environment in Cartesian Space, Trans. on the ASME, Journal of Dyn. Systems, Meas. and Control. Vol. 118, pp. 187-192, 1996.
182. Vukobratovic M., Katic D., Stabilizing Position/Force Control of Robots Interacting with Dynamic Environment by Learning Connectionist Structures, Journal of IFAC Automatica Vol. 32, No 12, pp. 1733-1739, 1996.
183. Hogan N., Impedance Control: An Approach to Manipulation: Pt I-Theory, Pt IIImplementation, Pt III-Applications, Trans. ASME J. of Dynamic Sys., Meas., and Control, Vol. 107, No 3, 1985.
184. De Schutter J., Bruyninckx H., Model-Based Specification and Execution of Compliant Motion, Tutorial M6, IEEE Conf. on R&A. Nice. 1992.
185. Stokic D., Vukobratovic M., Contribution to Practical Stability Analysis of Robots Interacting with Dynamic Environment, Proc. First ECPD Intern. Conf. on Advanced Robotics, Athens, 1995.
186. Stokic D., Vukobratovic M., Practical Stabilization of Robots Interacting with Dynamic Environment by Decentralized Control, Proc. of the RoManSy '96. Udine, 1996.
187. Michel N.A., Stability, Transient Behavior and Trajectory Bounds of Interconnected Systems, Intr. J. Control, Vol. 11, No 4, 1970.
188. Vukobratovic M., Stokic D., Kircanski N., Non-Adaptive and Adaptive Control of Manipulation robots, Berlin, Springer-Verlag, 1985.
189. Hartman P., Ordinary Differential Equations, Birkhäuser, 1982.
190. Bihari J., A Generalization of a Lemma of Bellman and its Application to Uniqueness Problems of Differential Equations, Acta math. Acad. Scient. Hung, VII, No. 1, 81-94, 1956.
191. Gantmacher R. R., Theory of Matrices, Vol. I and II, New York, Chelsea, 1959.
192. Lu Z., Goldenberg A.A., 1990, “Implementation of Robust Impedance and Force Control Using VSS Theory”, Robotics and manufacturing-recent trends in research, education, and application, ASME Press series, Vol. 3, pp. 279-285.
193. Doyle J.C., Francis B., Tannenbaum A.R., 1992, Feedback Control Theory, Macmillan Publishing.
194. Francis B.A., 1987, A Course in H∞ Control Theory, Springer-Verlag, Berlin.
195. Surdilovic D., Anton S., Al-Keshmery A., 1993, Compliant Motion Control Concept for Space Robotics for Upgrading of the ESTEC Robotic Laboratory Controller (IMCO), ESA Contract 103929 Study Report, IPK-Berlin.
196. Maples J.A., Becker J.J., 1986, “Experiments in Force Control of Robotic Manipulators”, Proceedings of IEEE International Conference on Robotics and Automation, pp 695-703.
197. Salisbury J.K., 1980, Active Stiffness Control of a Manipulator in Cartesian Coordinates, Proceedings 19th IEEE Conference on Decision and Control, December, pp. 95-100.
198. Kazerooni K.H., 1990, “Contact Instability of the Direct Drive Robot when Constrained by a Rigid Environment”, IEEE Transaction on Automatic Control, Vol. 35, No. 6, pp. 710-714.
199. Desoer C.A. and Vidyasager M, 1975, Feedback Systems: Input-Output Properties, Academic Press, New-York.
200. McCormick W., Schwartz H.M., 1993, “An Investigation of Impedance Control foir Robot Manipulators”, The International Journal of Robotic Research, Vol. 12, No. 5, pp.473-489.
201. Landau Y.D., 1979, Adaptive Control: The Model Reference Approach, Marcel Dekker Inc., New York.
202. Popov V.M., 1973, Hyperstability of Automatic Control Systems, Springer, New-York.
203. Colgate J. E., Hogan N., 1988, “Robust Control of Dynamically Interacting Systems”, International Journal of Control, Vol. 48, No. 1, pp.65-88.
204. Colgate J. E., Hogan N., 1992, “Stability Problems in Contact Tasks”, in The Robotics Review 1 (ed. Khatib, Craig and Lozano-Perez), MIT Press, Cambridge, Massachusetts.
205. Chapel J.D., Su R., 1992, “Coupled Stability Characteristics of Nearly Passive Robots”, Proceedings of IEEE International Conference on Robotics and Automation, Nice, pp. 1342-1346.
206. Stein G., Doyle J.C., 1991, “Beyond Singular Values and Loop Shapes”, Tutorial Paper, Journal of Guidance and Control, Vol. 14, No.1, pp. 5-16.
207. Šiljak D.D., 1989, “Prameter Space Methods for Robust Control Design: A Guided Tour”, IEEE Transaction on Automatic Control, Vol. 34, No. 7, pp. 674-688.
208. Kharitonov V.L., 1996, “Robust Stability of Nested Polynomial Families”, Automatica, Vol. 32, No.3, pp.365-367.
209. Chiang R.Y., Safonov M.G., 1992, Robust Control Toolbox User’s Guide, The MathWorks, Inc. Massachusetts.
210. Balas G., Doyle J., Glover K., Packard A., Smith R., 1995, Analysis and Synthesis Toolbox User’s Guide, The MathWorks Inc., Massachusetts.
211. Safonov M.G., Athans M., 1981, “A Multiloop Generalization of the Circle Criterion for Stability Margin Analysis”, IEEE Transactions on Automatic Control, Vol. AC-26, No. 2, pp. 415-422.
212. Doyle J.C, 1982, “Analysis of Feedback systems with Structured Uncertainties”, IEE Proceedings, Part D, Vol. 129, No. 6, pp. 242-250.
213. Armstrong-Helouvry B., 1991, Control of Machines With Friction, Kluwer Academic Publishers, Boston.
214. Vidyasagar M., 1986, “On Undershoot and Nonmiminum Phase Zeros”, IEEE Transaction on Automatic Control, Vol. 31, No. 5, pp. 440.
215. Leon de la Barra B., 1994, “On Undershoot in SISO Systems”, IEEE Transaction on Automatic Control, Vol. 39., No.3, pp. 578-581.
216. Lizama E., Surdilovic D., 1996, “Designing G-Optimal Experiments for Robot Dynamics Identification”, Proceedings of IEEE International Conference on Robotics and Automation, pp. 311-316, Minneapolis, Minnesota.
217. Dogliani F., Magnani G., Sciavicco L., 1993, “An Open Architecture Industrial Robot Controller”, IEEE Robotics and Automation Magazine, Vol. 1, No. 2., pp.19-21.
218. Duelen G., Münch H., Surdilovic D., 1991, “An Advanced Robot Control System for Manufacturing Processes”, Annals of the CIRP, Vol. 40/1, pp. 387-390.
219. Surdilovic D., Lizama E., Kirchhof J., 1995, “A Toolbox for Simulation if Robotic Systems”, Proceeding Simulation Congress Eurosim '95 Vienna, Elsevier, Amsterdam, pp. 693-699.
220. Benady M., Flash T., Gershon D., 1990, “Robot Learning of Contact Tasks”, in Robotic Systems and AMT, (Editors Halevi G., Yudilevich I., and Weill I.), Elsevier Science Publishers, Amsterdam pp. 147-159.
221. Hahn W., 1967, Stability of Motion, Springer-Verlag, Berlin-Heildeberg.
222. Otter M., Türk S., 1988, The DFVLR Models 1 and 2 of the Manutec r3 Robot, Report Nr. 88-13, Deutsche Forschungs-und Versuchanstalz für Luft-und Raumfahrt, Oberpfaffenhofen.
223. Michell A., Miller R., 1977, Qualitative Analysis of Large Scale Dynamical Systems, Mathematics in Science and Engineering, Academic Press, New York.
224. Halanay A., 1966, Differential Equations-Stability, Oscillations, Time Lags, Mathematics in Science and Engineering (ed. R. Bellman), Vol. 23, Academic Press, New York and London.
225. Surdilovic D., 2002, Synthesis of Robust Compliance Control Algorithms for Industrial Robots and Advanced Interaction Systems, Ph:D. Thesis, Mechanical Engineering Faculty of University in Nis, Serbia and Montenegro.
226. Van der Shaft A., 1996, L 2-Gain and Passivity Techniques in Nonlinear Control, Lecture Notes in Control and Information Science, Vol. 218, Springer-Verlag, Berlin.
227. Zhou K., Doyle J.C., 1998, Essentials of Robust Control, Prentice-Hall International Inc.
228. Safonov M.G., Jonckheere E.A., Verma M., Limbeer D.J.N., 1987, “Synthesis of Positive Real Multivariable Feeedback Systems”, International Journal of Control, Vol. 45, No. 3, pp.817-842.
229. Anderson B.O., 1972, “The Small-Gain Theorem, The Passivity Theorem and Their Equivalence”, Journal of Franklin Institute, No. 293, pp. 105-115.
230. Astrom K.J. Wittenmark B., 1984, Computer Controlled Systems: Theory and Design, Prentice-Hall, Englewood Cliffs.
231. Bellman R., Cooke K.L., 1963, Differential-Difference Equations, Mathematics in Science and Engineering, Vol. 6, Academic Press, New York.
232. El’sgol’ts L.E., Norkin S.B., 1973, Introduction to the Theory and Application of Differential Equations with Deviating Arguments, Mathematics in Science and Engineering, Vol. 105, Academic Press, New York.
233. Chen T., Francis B.A., 1995, Optimal Sampled-Data Control Systems, Communication and Control Engineering Series, Springer-Verlag, Berlin.
234. Norkin S.B., 1972, Differential Equations of the Second Order with Retarded Argument, Translations of Mathematical Monographs, Vol. 31, American Mathematical Society, Rhode Island.
235. Smirnov V.I., 1958, Courses of Higher Mathematics (in russian), Physical-Mathematical Literature, Moscow, Vol. 1-8.
236. Dorf R.C., Bishop R.H., 1998, Modern Control Systems, Addison Wesley Longman Inc., Menlo Park, California.
237. Buerger S. P. and Hogan N., “Relaxing Passivity for Human-Robot Interaction”, Proceedings of the Int. Conference on Intelligent Robot and Systems, Beijing, pp. 4570-4575, 2006.
238. Maciejowski J.M., 1989, Multivariable Feedback Design, Addison-Wesley Publishing Company, Wokingham.
239. Buerger S. P. and Hogan N., “Relaxing Passivity for Human-Robot Interaction”, Proceedings of the Int. Conference on Intelligent Robot and Systems, Beijing, pp. 4570-4575, 2006.
240. Hogan N., 1987, “Stable Execution of Contact Tasks Using Impedance Control”, Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, pp. 1047-1054.
241. Mason M.T., 1981, “Compliance and Force Control for Computer Controlled Manipulators”, IEEE Transaction of System, Man and Cybernetics, SMC-11, pp. 418-432.
242. Raibert M.H., Craig J.J., 1981, “Hybrid Position/Force Control of Manipulators”, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 102, pp. 126-133.
243. Lozano-Perez T., 1983, “Robot Programming”, Proceedings of IEEE, Volume 71, pp. 821-841.
244. Whitney D.E., Nevins J.L., 1986, “What is Remote Center of Compliance (RCC) and What Can it Do”, Robot Sensors Volume 2-Tactile and Non-Vision, IFS Publication, pp. 3-17, Springer-Verlag.
245. Shimoga K.B., Goldenberg A.A., 1991, “Grasp Admittance Center: A Concept and Its Implications”, Proceedings of IEEE International Conference on Robotics and Automation, Sacramento, California, pp. 293-298.
246. Goldenberg A.A., Shimoga K.B., 1993, “Experimental Demonstration of the Grasp Admittance Center Concept”, Proceedings of American Control Conference on Robotics and Automation, San Francisco, California, pp. 331-335.
247. Fasse E., Gosselin C., 1999, “Spatial-Geometric Impedance Control of Gough-Stewart Platforms”, IEEE Transactions on Robotics and Automation, Vol. 15, pp. 281-288.
248. Timoshenko S.P., and Goodier J.N., 1970, Theory of Elasticity, 3-rd Ed., McGraw-Hill, Kogakusha Ltd, 1970.
249. Howard S., Žefran M., Kumar V., 1998, “On the 6x6 Cartesian Stiffness Matrix for Three-Dimensional Motions”, Mechanism and Machine Theory, Vol. 33, No. 4, pp. 389-408.
250. Duschek A., Hochrainer A., 1965, Tensor Computation in Analytical Representation, III Applications in Physics and Techniques, (in German) Springer-Verlag, Wien.
251. Loncaric, J., 1985, Geometrical Analysis of Compliant Mechanisms in Robotics, Ph.D. Thesis, Division of Applied Science, Harvard University, June 1985.
252. Loncaric, J., 1987, “Normal forms of stiffness and compliance matrices, IEEE Journal of Automation and Robotics, Vol. RA-3, No. 6, pp. 567-572.
253. Selig J.M., 2000, “The Spatial Stiffness Matrix from Simple Stretched Springs”, Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San-Francisco, pp. 3314-3319.
254. Ciblak N., Lipkin H., 1994, “Centers of Stiffness, Compliance and Elasticity in the Modelling of Robotic Systems”, Proceedings ASME Design Technical Conference: Robotics-Kinematics, Dynamics and Control, Minneapolis, Minnesota, pp.185-195.
255. Lipkin H., Patterson T., 1992, “Geometrical Properties of Modeled Robot Elasticity: Part IDecomposition, Part II-Center of Elasticity”, Proceedings ASME Design Technical Conference: Robotics, Spatial Mechanisms and Mechanical Systems, Scottsdale, Arizona, pp. 179-193.
256. Roberts R., 1999, “Minimal Realization of a Spatial Stiffness Matrix with Simple Springs Connected in Parallel”, Proceedings of IEEE International Conference on Robotics and Automation, Detroit, Michigan, pp. 2153-2158.
257. Ciblak N., Lipkin H., 1999, “Synthesis of Cartesian Stiffness for Robotic Applications”, Proceedings of IEEE International Conference on Robotics and Automation, Detroit, Michigan, pp. 2147-2152.
258. Surdilovic D., 1998, “Synthesis of Impedance Control Laws at Higher Control Levels: Algorithms and Experiments”, Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 306-311.
259. Astrom K.J. Wittenmark B., 1984, Computer Controlled Systems: Theory and Design, Prentice-Hall, Englewood Cliffs.
260. Surdilovic D., 2002, Synthesis of Robust Compliance Control Algorithms for Industrial Robots and Advanced Interaction Systems, Ph:D. Thesis, Mechanical Engineering Faculty of University in Nis, Serbia and Montenegro.
261. Doyle J.C., Francis B., Tannenbaum A.R., 1992, Feedback Control Theory, Macmillan Publishing.
262. Surdilovic D., Lizama E., Kirchhof J., 1995, “A Toolbox for Simulation if Robotic Systems”, Proceeding Simulation Congress Eurosim '95 Vienna, Elsevier, Amsterdam, pp. 693-699.
263. Nicolodi S., Surdilovic D., Schott J., Boumanns J., Putz P., 1995, “Development of a Space Controller with Advanced Sensor-Based Control Capabilities”, Proceedings 7th International Conference on Advanced Robotics ICAR’95, Sant Feliu de Guixols, Spain.
264. Surdilovic D., Bernhardt R., Colombina G., Grassini F., 1996, “A Space Robot Control with Advanced Sensor-Based Capabilities: Terrestrial Spin-off”, 27th ISIR, Milan, pp. 243-248.
265. Surdilovic D., 2000, Impedance Control Design Toolbox-User’s Guide, IPK-Berlin.
266. De Bartolomei M., Frassini F, S. Losito, 2000, Robotic arm co-operation for assembling a reticular structure, Proceedings Astra 2000, ESA/ESTEC.
267. Surdilovic D., De Bartolomeo M., Grassini F., “Synthesis of Impedance Control for Complex Co-operating Robot Assembly Tasks”, Proceedings AIM’01 Conference, Como, Italy, 2001, pp. 1181-1187.
268. Dogliani F., Magnani G., Sciavicco L., 1993, “An Open Architecture Industrial Robot Controller”, IEEE Robotics and Automation Magazine, Vol. 1, No. 2., pp.19-21.
269. Mason M.T., 1982, “Compliant Motion”, Robot Motion: Planning and Control, Ed. by Brady M. et al., MIT Press Series in Artificial Intelligence, pp. 305-322.
270. Salisbury K.J., Brock D., Massie T., Swarup N. And Zilles C., “Haptic Rendering: Programming Touch Interaction with Virtual Objects”, in Proceedings Symposium on Interactive 3D Graphics, New York, pp. 123-130, 1995.
271. Adams R., Hannaford B, “Stable Haptic Interaction with Virtual Environments”, IEEE Trans. on Robotics and Automation, Vol. 15, No. 3, pp. 465-474, 1999.
272. Hogan N., “Controlling Impedance at the Man/Machine Interface”, Proceedings of IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, pp. 1626-1631, 1989.
273. Burdet E., Osu R., Franklin D., Millner T., Kawato M., “The central nervous system stabilizes unstable dynamics by learning optimal impedance”, Nature, Vol. 414, pp.446-449, 2001.
274. Colgate J. E., Stanley M.C., Brown J.M., “Issues in the Haptic Display of Tool Use”, Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, Pitsburgh, PA, pp. 140-145, 1995.
275. Colgate J. E., Brown J.M., “Factors Affecting the Z-Width of a Haptic Display”, Proceedings of IEEE International Conference on Robotics and Automation, San Diego, pp. 3205-3210, 1994.
276. Miller B., Colgate E., Freeman R., “Guaranteed Stability of Haptic Systems with Nonlinear Virtual Environments”, IEEE Transaction on Robotics and Automation, Vol. 16, Nr. 3, pp.712-719, 2000.
277. Colgate J. E., Hogan N., “Robust Control of Dynamically Interacting Systems”, International Jour. of Control, Vol. 48, No. 1, pp.65-88, 1988.
278. Colgate J. E., Hogan N., “An Analysis of Contact Instability in Terms of Passive Physical Equivalents”, Proceedings of IEEE Int. Conference on Robotics and Automation, pp. 404-409, 1989.
279. Newman W. S., “Stability and Performance Limit of Interaction Controllers”, Trans. of the AMSE Journal of Dynamic Systems, 114, No. 4., pp. 65-88, 1992.
280. Dohring M. and Newman W., 2002, “Admittance Enhancement in Force Feedback of Dynamic Systems”, Proc. of ICRA, Washington DC, pp. 638-643.
281. Buerger S. P. and Hogan N., “Relaxing Passivity for Human-Robot Interaction”, Proceedings of the Int. Conference on Intelligent Robot and Systems, Beijing, pp. 4570-4575, 2006.
282. Colgate J. E., Brown J.M., “Factors Affecting the Z-Width of a Haptic Display”, Proceedings of IEEE International Conference on Robotics and Automation, San Diego, pp. 3205-3210, 1994.
283. Brown M., Colgate E., “Minimum Mass for Haptic Display Simulations”, Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, Anaheim, CA, 1998.
284. Adams R., “Stable Haptic Interaction With Virtual Environment”, Ph. D. Thesis, University of Washington, 1999.
285. Miller B., Colgate E., Freeman R., “Guaranteed Stability of Haptic Systems with Nonlinear Virtual Environments”, IEEE Transaction on Robotics and Automation, Vol. 16, Nr. 3, pp.712-719, 2000.
286. Hannaford B., Ryu J-H., “Time Domain Passivity Control of Haptic Interfaces”, IEEE Transaction on Robotics, Vol. 18(1), pp. 1-10, 2002.
287. Diolati N., Niemeyer G., Barbagli F. and Salisbury J.K., “Stability of Haptic Rendering: Discretization, Quantization, Time Delay and Coulomb Effects”, IEEE Transaction on Robotics, Vol 22(2), pp. 256-268, April 2006.
288. Gil J.J., Hulin T., Preusche C. and Hirzinger G., “Stability Boundary for Haptic rendering: Influence of Damping and delay”, Proceedings 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 124-129, 2007.
289. Gosline A.H. and Hayward V., “Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware”, Proceedings of World Haptics 2007, pp.164-169, 2007.
290. Surdilovic D., Radojicic J., 2007, “Robust Control of Interaction with Haptic Interfaces”, Proceedings of ICRA 2007, Rome, Italy, pp. 3237-3234, 2007.
291. Adams R., “Stable Haptic Interaction With Virtual Environment”, Ph. D. Thesis, University of Washington, 1999.
292. Surdilovic D., Cojbasic Z., “Robust Robot Motion Compliant Control Using Intelligent Adaptive Impedance Approach”, Proceedings of IEEE International Conference on Robotics and Automation, Detroit, Michigan, pp. 2128-2134, 1999.
293. Surdilovic D., Impedance Control Design Toolbox-User’s Guide, IPK-Berlin, 2000.
294. Lawrence D.A., “Stability and transparency in bilateral teleoperation,” IEEE Transactions on Robotics and Automation, Vol. 9, pp. 624-637, 1993.
295. N. Hogan, Impedance control: An approach to manipulation, part 1.-theory, part 2.-implementation, part 3.-application, ASME Journal of Dynamic Systems, Measurement and Control 107 (1985), pp. 1-24.
296. A. De Luca and C. Manes, On the modelling of robots in contact with dynamic environments, Proceedings of the 5-th International Conference on Advanced Robotics (Pisa), 1991, pp. 568-574.
297. C.G. Atkeson, and A.W. Moore and S. Schaal, Locally weighted learning, Artificial Intelligence Review, Vol. 11, pp. 11-73, 1997.
298. B-H. Yang and H. Asada, Hybrid linguistic/numeric control of deburring robots, Proceedings of the IEEE International Conference on Robotics and Automation (Nice), May 1992, pp.1467-1474.
299. H. Asada and B-H. Yang, Skill acquisition from human experts through pattern processing of teaching data, Proceedings of the IEEE International Conference on Robotics and Automation (Scottsdale), May 1989, pp. 1302-1307.
300. H. Asada and H. Izumi, Direct teaching and automatic program generation for the hybrid control of robot manipulators, Proceedings of the IEEE International Conference on Robotics and Automation (Raleigh), April 1987, pp. 1401-1406.
301. H. Asada and S. Liu, Transfer of human skills to neural net robot controllers, Proceedings of the IEEE International Conference on Robotics and Automation (Sacramento), April 1991, pp. 2442-2448.
302. H. Asada and Y. Asari, Direct teaching of tool manipulation skills via the impedance identification of human motions, Proc. of the IEEE Inter. Conference on Robotics and Automation (Philadelphia), May 1988, pp. 1269-1274.
303. M. Skubic and R.A. Volz, Identifying contact formation from sensory patterns and its application to robot programming in demonstration, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (Osaka), November 1996, pp. 458-464.
304. M. Skubic and R.A. Volz, Learning force sensory patterns and skills from human demonstration, Proceedings of the IEEE International Conference Robotics and Automation (Albuquerque), April 1997, pp. 284-290.
305. M. Skubic and R.A. Volz, Acquiring robust, force-based assembly skills from human demonstration, IEEE Transactions on Robotics and Automation 16 (2000), No. 6, pp. 772-781.
306. M. Skubic and R.A. Volz, Identifying single-ended contact formations from force sensor patterns, IEEE Transactions on Robotics and Automation 16 (2000), No. 5, pp. 597-602.
307. D. Jeon and M. Tomizuka, Learning hybrid force and position control of robot manipulators, Proceedings of the IEEE International Conference on Robotics and Automation (Nice), May 1992, pp. 1455-1460.
308. J.M. Tao and J.Y.S. Luh, Application of neural network with real-time training to robust position/force control of multiple robots, Proceedings of the IEEE Inter. Conference on Robotics and Automation (Atlanta), May 1993, pp. 142-148.
309. S. Arimoto and T. Naniwa, Learning control for robot tasks under geometric endpoint constraints, Proceedings of the IEEE International Conference on Robotics and Automation (Nice), May 1992, pp. 1914-1919.
310. T. Fukuda, T. Shibata, M. Tokita, and T. Mitsuoka, Adaptation and learning by neural network for robotic manipulator, Proceedings of the IMACS International Symposium on Mathematical and Intelligent Models in System Simulation (Brussels), September 1990.
311. V. Gullapali, R. Grupen, and A. Barto, Learning reactive admittance control, Proceedings of the IEEE International Conference on Robotics and Automation (Nice), May 1992, pp. 1475-1481.
312. V. Zahn, R. Maas, M. Dapper, and R. Eckmiller, Neural force control (NFC) applied to industrial manipulators in interaction with moving rigid objects, Proceedings of the IEEE International Conference on Robotics and Automation (Detroit), May 1999, pp. 2780-2785.
313. H. Asada, Teaching and learning of compliance using neural nets: Representation and generalization of nonlinear compliance, Proc. of the IEEE International Conference on Robotics and Automation (Cincinnati), May 1990, pp. 1237-1244.
314. H. Asada, Representation and learning of nonlinear compliance using neural nets, IEEE Transactions on Robotics and Automation 9 (1993), No. 6, pp. 863-867.
315. A.G. Barto, R.S. Sutton, and C.W. Anderson, Neuron-like adaptive elements that can solve difficult learning control problem, IEEE Transactions on Systems, Man and Cybernetics 13 (1983), pp. 834-846.
316. H-L. Pei, Q-J. Zhou, and T.P. Leung, A neural network robot force controller, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (Raleigh), July 1992, pp. 1974-1979.
317. K. Kiguchi and T. Fukuda, Robot manipulator hybrid control for an unknown environment using visco-elastic neural networks, Proc. of the IEEE International Conference on Robotics and Automation (Leuven), May 1998, pp. 1447-1452.
318. M. Dapper, R. Maas, V. Zahn, and R. Eckmiller, Neural force control (NFC) applied to industrial manipulators in interaction with moving rigid objects, Proceedings of the IEEE International Conference on Robotics and Automation (Leuven), May 1998, pp. 2048-2053.
319. Q. Guo, An adaptive robust compensation control schemes using ANN for a redundant robot manipulator in the task space, Proc. of the IEEE International Conference on Robotics and Automation (Nice), May 1992, pp. 1908-1913.
320. R. Maas, V. Zahn, M. Dapper, and R. Eckmiller, Hard contact surface tracking for industrial manipulators with (SR) position based force control, Proc. of the IEEE Inter. Conf. on Robotics and Automation (Detroit), May 1999, pp. 1481-1486.
321. S. Hu, M.H. Ang Jr., and H. Krishnan, Neural network controller for constrained robot manipulators, Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco), April 2000, pp. 1906-1911.
322. V. Zahn, R. Maas, M. Dapper, and R. Eckmiller, Neural force control (NFC) applied to industrial manipulators in interaction with moving rigid objects, Proceedings of the IEEE International Conference on Robotics and Automation (Detroit), May 1999, pp. 2780-2785.
323. S. Hu, M.H. Ang Jr., and H. Krishnan, On-line Neural Network Compensator for Constrained Robot Manipulators, Proceed. of the 3rd Asian Control Conference, Shanghai, July 2000, pp. 1621-1627.
324. D.E. Whitney, Historical perspective and state of the art in robot force control, International Journal of Robotics Research 6 (1987), No. 1, pp. 3-14.
325. N. Saadia, Y. Amirat, J. Pontnaut, A. Ramdane-Cherif, Neural Adaptive Force Control for Compliant Robots, In José Mira, Alberto Prieto (Eds.): Bio-inspired Applications of Connectionism, 6th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2001 Granada, June 2001, Proceedings, Part II. Springer 2001, pp. 436-443.
326. K. Burn, M. Short, R. Bicker, Adaptive and Nonlinear Fuzzy Force Control Techniques Applied to Robots Operating in Uncertain Environments, Journal of Robotic Systems, Vol. 20, No. 7, 2003.
327. S.J. Marques, L. Baptista and M.G. Sa de Costa, A Fuzzy Integrated Approach to Impedance Control of Robot Manipulators, Proceedings of the First International Conference on Informatics in Control, Automation and Robotics ICINCO 2004, Setubal, Portugal, August 2004, Vol. 2, pp.201-206.
328. B. Karan and M. Vukobratovic, Application of fuzzy logic to simultaneous dynamic positionforce control of robotic manipulators, Proceedings of the 2nd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems (Vienna), 1996, pp. 80-85.
329. D. Katic and M. Vukobratovic, A new adaptive fuzzy hybrid force/position control for intelligent robot deburring, Proceedings of the IEEE International Conference on Robotics and Automation (Detroit), May 1999, pp. 2476-2481.
330. G.J. Vachtsevanos, K. Davey, and K.M. Lee, Development of novel intelligent robotic manipulator, IEEE Control Systems Magazine 7 (1987), No. 3, pp. 9-15.
331. K.A. Han-Gyoo, A new interpretation of force/servo control of robot arms, Proc. of the IEEE Symposium on Intelligent Robots and Systems, 1991, pp. 1623-1627.
332. K. Seung-Woo and P. Mignon, Fuzzy compliance robot control, Proceedings of the IEEE Symposium on Intelligent Robots and Systems, 1991, pp. 1628-1631.
333. L-R. Lin and H-P. Huang, Integrating fuzzy control of the dextrous NTU hand, IEEE Transactions on Mechatronics 1 (1996), No. 3, pp. 216-229.
334. M. Shibata, T. Murakami, and K. Ohnishi, A unified approach to position and force control by fuzzy logic, IEEE Transactions on Industrial Electronics 43 (1996), No. 1, pp. 81-87.
335. F-Y. Hsu and L-C. Fu, New design of adaptive fuzzy hybrid force/position control for robot manipulators, Proceedings of the IEEE International Conference on Robotics and Automation (Nagoya), May 1995, pp. 863-868.
336. F-Y. Hsu and L-C. Fu, Adaptive fuzzy hybrid force/position control for robot manipulators following contours of an uncertain object, Proc. of the IEEE Inter. Conf. on Robotics and Automation (Minneapolis), April 1996, pp. 2232-2237.
337. F-Y. Hsu and L-C. Fu, Intelligent robot deburring using adaptive fuzzy hybrid position/force control, IEEE Transactions on Robotics and Automation 16 (2000), No. 4, pp. 325-335.
338. M. Tarokh and S. Bailey, Adaptive fuzzy force control of manipulators with unknown environment parameters, Journal of Robotic Systems 14 (1997), No. 5, pp. 341-353.
339. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, Application of multiple fuzzy-neuro force controllers in an unknown environment using genetic algorithms, Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco), April 2000, pp. 2106-2111.
340. K. Kiguchi and T. Fukuda, Robot manipulator contact force control application of fuzzy-neural network, Proceedings of the IEEE International Conference on Robotics and Automation (Nagoya), May 1995, pp. 875-880.
341. K. Kiguchi and T. Fukuda, Fuzzy neural friction compensation method of robot manipulation during position/force control, Proceed. of the IEEE International Conf. on Robotics and Automation (Minneapolis), April 1996, pp. 372-377.
342. K. Kiguchi and T. Fukuda, Intelligent position/force controller for industrial robot manipulators-application of fuzzy neural networks, IEEE Transactions on Industrial Electronics 44 (1997), No. 6, pp. 753-761.
343. K. Kiguchi and T. Fukuda, Fuzzy selection of fuzzy-neuro robot force controllers in an unknown environment, Proceedings of the IEEE International Conference on Robotics and Automation (Detroit), May 1999, pp. 1182-1187.
344. D. Katic and M. Vukobratovic, A neural network-based classification of environ-ment dynamic models for compliant control of manipulation robots, IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 28 (1998), No. 1, pp. 58-69.
345. A. Fanaei and M. Farrokhi, Adaptive Neuro-Fuzzy Controller For Hybrid Position/Force Control of Robotic Manipulators, Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, July 2005.
346. A. Fanaei and M. Farrokhi, Robot compliance algorithm based on neural network classification and learning of robot-environment dynamic models, Proceedings of the IEEE International Conference on Robotics and Automation (Albuquerque), April 1997, pp. 2632-2637.
347. D.A. Lawrence, Impedance control stability properties in common implemen-tations, Proceedings of the IEEE International Conference on Robotics and Automation (Philadelphia), April 1988, pp. 1185-1190.
348. M. Vukobratovic and Y. Ekalo, New approach to the control of manipulation robots interacting with dynamic environment, Robotica 14 (1996), pp. 31-39.
349. O.R. Rioul and M. Veterli, Wavelets and signal processing, IEEE Signal Processing Magazine 8 (1991), pp. 14-38.
350. C.K. Chui, An Introduction to Wavelets, Academic Press, London, 1992.
351. F. Hlawatsch and G.F. Boudreaux-Bartels, Linear and quadratic time-frequency signal representations, IEEE Signal Processing Magazine 11 (1992), No. 2, pp. 21-67.
352. H.H. Szu, B. Telfer and S. Kadambe, Neural network adaptive wavelets for signal representation and classification, Optical Engineering 31 (1992), No. 9, pp. 1907-1916.
353. A. Homaifar, M. Bikdash, and V. Gopalan, Design using genetic algorithms of hierarchical hybrid fuzzy-PID controllers of two-link robotic arms, Journal of Robotic Systems 14 (1997), No. 5, pp. 449-463.
354. M-R. Akbarzadeh and M. Jamshidi, Evolutionary fuzzy control of a flexible-link, Intelligent Automation and Soft Computing 3 (1997), No. 1, pp. 77-88.
355. M-Y. Cheng and C-S. Lin, Genetic algorithm for control design of biped locomotion, Journal of Robotic Systems 14 (1997), No. 5, pp. 365-373.
356. S.S. Ge, T.H. Lee and G. Zhu, Genetic algorithm tuning of Lyapunov-based controllers: An application to a single-link flexible robot system, IEEE Transactions on Industrial Electronics 43 (1996), No. 5, pp. 567-574.
357. T. Fukuda, Y. Komata, and T. Arakawa, Stabilization control of biped locomotion robot based learning with GAs having self-adaptive mutation and recurrent neural network, Proceedings of the IEEE International Conference on Robotics and Automation (Albuquerque), April 1997, pp. 217-222.
358. B. Borovac, D. Katic, and M. Vukobratovic, Connectionist reactive control for robotic assembly tasks by soft sensored grippers, Proceedings of the 24th International Symposium on Industrial Robots, pp. 1-8, Tokyo, 1993.
359. B. Borovac, D. Seslija, and S. Stankovski, Soft sensored grippers in assembly process, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1283-1288, Nice, May 1992.
360. D. Katic and M. Vukobratovic, Highly efficient robot dynamics learning by decomposed connectionist feedforward control structure, IEEE Transactions on Systems, Man, and Cybernetics, 25(1): pp. 145-158, 1995.
361. www.androidworld.com
362. J.H. Kim, and J.H. Oh, Walking Control of the Humanoid Platform KHR-1 based on Torque Feedback, Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Los Angeles, USA, pp. 623-628, 2004.
363. D. Katic, M. Vukobratovic, Survey of Intelligent Control Techniques for Humanoid Robots, Journal of Intelligent and Robotic Systems, Vol. 37, pp. 117-141, 2003.
364. H.R. Berenji and P. Khedkar, Learning and Tuning Fuzzy Logic controllers through Reinforcements, IEEE Transactions on Neural Networks, Vol. 3, No. 5, pp.724-740, September 1992.
365. H. Benbrahim and J.A. Franklin, Biped Dynamic Walking using Reinforcement Learning, Robotics and Autonomous Systems, Vol. 22, pp. 283-302, Dec. 1997.
366. A.W. Salatian and K.Y. Yi and Y.F. Zheng, Reinforcement Learning for a Biped Robot to Climb Sloping Surfaces, Journal of Robotic Systems, Vol. 14, No. 4, pp. 283-296, April 1997.
367. R.S. Sutton and A.G. Barto, Reinforcement Learning: An Introduction, The MIT Press, Cambridge, USA, 1998.
368. D.P. Bertsekas and J.N. Tsitsiklis, Neuro-Dynamic Programming, Athena Scientific, Belmont, USA, 1996.
369. M. Vukobratovic, B. Borovac and D. Surdilovic, Zero Moment Point-Proper Interpretation and the Application in Gait Control, Intelligent Journal Engineering & Automation Problems, No. 3, pp. 3-14, 2002.
370. D. Zhou and K.H. Low, Combined Use of Ground Learning Model and Active Compliance to the Motion Control of Walking Robotic Legs, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 3159-3164, 2001.
371. V. Gullapalli, A Stochastic Reinforcement Learning Algorithm for Learning Real-Valued Functions, Neural Networks, Vol. 3, pp. 671-692, 1990.
372. V. Gullapalli and J.A. Franklin and H. Benbrahim, Acquiring Robot Skills via Rein-forcement Learning, IEEE Control Systems Magazine, pp.13-24, February 1994.
373. K. Doya, Reinforcement Learning in Continuous Time and Space, Neural Computation, Vol. 12, No. 1, pp. 219-245, 2000.
374. C. Zhou and Q. Meng, Reinforcement Learning and Fuzzy Evaluative Feedback for a Biped Robot, Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, pp. 3829-3834, April 2000.
375. J. Peters and S. Vijayakumar and S. Schaal, Reinforcement Learning for Humanoid Robots, Proceedings of the Third IEEE-RAS International Conference on Humanoid Robots, Karlsruhe & Munich, October 2003.
376. J. Morimoto, G. Cheng, C.G. Atkeson, and G. Zeglin, A Simple Reinforcement Learning Algorithm For Biped Walking, Proceedings of the 2004 IEEE Inter. Conference on Robotics & Automation New Orleans, USA, April 2004.
377. C. Chew and G.A. Pratt, Dynamic bipedal walking assisted by learning, Robotica, Vol. 20, pp. 477-491, 2002.
378. Y. Nakamura, M. Sato and S. Ishii, Reinforcement learning for biped robot, Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, pp. ThP-II-5, 2003.
379. T. Mori, Y. Nakamura, M. Sato, and S. Ishii, Reinforcement learning for a cpg-driven biped robot, Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI), pp. 623-630, 2004.
380. T. Sugihara, and Y. Nakamura, Y., Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, pp. 2575-2580. 2002.
381. Q. Li, A. Takanishi and I. Kato, Learning control of compensative trunk motion for biped walking robot based on ZMP, Proceedings of the 1992 IEEE/RSJ Int. Conference on Intelligent Robot and Systems, pp. 597-603, 1992.
382. M. Vukobratović, B. Borovac, D. Surla, D. Stokić, Biped Locomotion-Dynamics, Stability, Control and Application, Springer-Verlag, Berlin, 1990.