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From: ion@falcon.cc.ukans.edu (Iain Shigeoka)
Subject: Russian Robotics 0/8: Abstract and Table of Contents
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Organization: La division Robotique de l'Institut de recherche d'Hydro-Quebec
Date: Wed, 5 Jul 1995 20:37:38 GMT
Approved: mboyer@ireq-robot.hydro.qc.ca, crr@ireq-robot.hydro.qc.ca

[ This is a revised and re-organized posting of these articles and it
  should supersede any other version previously posted to Usenet. -IS]

RUSSIAN ROBOTICS RESEARCH AND ACTIVITY OF ROBOTICS LAB.


F.M.KULAKOV

St.Petersburg Institute for Informatics and
Automation of Russia Academy of Sciences,
Robotics Laboratory
199178 St.Petersburg, Russia
39, 14-th Line, St.Petersburg, Russia, 199178

phone: 007(812) 218 10 88;
fax: 007(812) 217 51 05:
e-mail: kul@lrob.iias.spb.su


Abstract:

This paper presents some advanced research on robotics, which is being
carried out in Russia.  The research includes:  autonomous space
robotics; a system with supervisory robot control for the assembly,
disassembly, and grinding of complex surfaces and other operations;
legged robots; a high energy economical robot-manipulator; artificial
muscle; a system of control for un-traditional robotic tasks (i.e.  for
physical simulation of a body's motion in weightless conditions, for
measuring mass and inertia of bodies, etc.); the generalization of the
theory of force/torque robot control and realization of it for an
elastic robot; mobile robots on wheels and caterpillar treads for
special tasks.

Key Words:  Russian research; robotics; force robot control;
            supervisory control; space robot; mobile robot.


  Table of Contents For Research Summary
   
    1. HISTORICAL INFORMATION

    2. PROJECTS: SPACE AND SPECIAL ROBOTS

     2.1. THE SYSTEM OF BOARD MANIPULATORS (SBM)
     2.3. MOBILE ROBOT ON WHEELS
     2.4. SPECIAL CATERPILLAR ROBOTS WITH A MANIPULATOR
     2.5. THE RESONANCE MANIPULATOR
     2.6. THE ARTIFICIAL MUSCLE
     2.7. MOBILE ROBOT FOR MARS RECONNAISSANCE
 
    3. ACTIVITY OF ROBOTICS LAB
 
     3.1. FUNDAMENTAL RESEARCH OF ROBOTICS LAB
      3.1.1. GENERAL RESEARCH OF ROBOTICS LAB
      3.1.2. METHOD OF AUTOMATIC FORMATION OF DESIRED TRAJECTORIES
      3.1.3. THE THEORY OF SUPERVISORY ROBOT CONTROL
      3.1.4. METHODS OF RECURRENT FORMATION OF FUNCTIONAL MODELS
              OF COMPLEX CONTROLLABLE AND UNCONTROLLABLE MECHANISMS
              AND CONSTRUCTIONS.  ALSO FUNCTIONAL MODEL TO IMITATE 
              HUMAN MOVEMENT
     3.2. APPLIED RESEARCH
      3.2.1. PRACTICAL REALIZATION OF SUPERVISORY CONTROL
      3.2.2. SOFTWARE-HARDWARE OF 6D FORCE/TORQUE SENSOR
              AND 6D JOYSTICK
      3.2.3. THE SYSTEM CONTROL FOR UNTRADITIONAL USE OF ROBOTS
      3.2.4. PACKAGE COMPUTER AIDED ENGINEERING FOR INDUSTRIAL ROBOTS
              (CAEIR) DESCRIPTION OF FUNCTIONS

    REFERENCES

====================================================================
[Moderator's Note:

This series of articles is composed of the following parts:

  Russian Robotics 0/8: Abstract and Table of Contents
  Russian Robotics 1/8: [LONG] Summary of Research
  Russian Robotics 2/8: Force Control for Elastic Robots
  Russian Robotics 3/8: Automatic Path Generation
  Russian Robotics 4/8: Supervisory Control
  Russian Robotics 5/8: 6D Force/Torque Sensor
  Russian Robotics 6/8: 6D Joystick
  Russian Robotics 7/8: Weightless Robotics
  Russian Robotics 8/8: CAE for Industrial Robots

The Table of Contents covers the topics in the second article:
"Summary of Research".  The "Summary of Research" provides an overview
of the research being conducted in the St.  Petersburg Institute for
Informatics and Automation of the Russia Academy of Sciences, Robotics
Laboratory.  Parts 2/7 through 7/7 contain separate, brief
descriptions of each phase of their research.  They are included to
allow investigators to read about their area of interest without
downloading the long "Summary of Research".

This is a revised and re-organized posting of these articles and it
should supersede any other version previously posted to Usenet.

        -iain shigeoka (July 3, 1995)]

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