HOUSEHOLD PHYSICS

By Q. KATAA

CONTENTS HUMAN ROBOTICS: A VISION AND A DREAM PART I FROM EVERYDAY PHYSICS TO ROBOT CONTROL NATURAL MOTION AND SINGULARITY-CONSISTENT INVERSION OF ROBOT MANIPULATORS APPROXIMATE JACOBIAN CONTROL FOR ROBOT MANIPULATORS ADAPTIVE VISUAL SERVOING OF ROBOT MANIPULATORS ORTHOGONALIZATION PRINCIPLE FOR DYNAMIC VISUAL SERVOING OF CONSTRAINED ROBOT MANIPULATORS PASSIVITY-BASED CONTROL OF MULTI-AGENT SYSTEMS NAVIGATION FUNCTIONS FOR DYNAMICAL, NONHOLONOMICALLY CONSTRAINED MECHANICAL SYSTEMS PLANNING AND CONTROL OF ROBOT MOTION BASED ON TIME-SCALE TRANSFORMATION PART II FROM ROBOT CONTROL TO HUMAN-LIKE MOVEMENTS MODULARITY, SYNCHRONIZATION, AND WHAT ROBOTICS MAY YET LEARN FROM THE BRAIN FORCE CONTROL WITH A MUSCLE-ACTIVATED ENDOSKELETON ON DYNAMIC CONTROL MECHANISMS OF REDUNDANT HUMAN MUSCULO-SKELETAL SYSTEM PRINCIPLE OF SUPERPOSITION IN HUMAN PREHENSION MOTION PLANNING OF HUMAN-LIKE MOVEMENTS IN THE MANIPULATION OF FLEXIBLE OBJECTS HAPTIC FEEDBACK ENHANCEMENT THROUGH ADAPTIVE FORCE SCALING: THEORY AND EXPERIMENT LEARNING TO DYNAMICALLY MANIPULATE: A TABLE TENNIS ROBOT CONTROLS A BALL AND RALLIES WITH A HUMAN BEING