Control in Robotics: Open Problems and Future Directions

摘要

Abstract Bruno Siciliano PRISMA Lab Dipartimento di Informatica e Sistemistica Universith degli Studi di Napoli Federico 11 Via Claudio 21,80125 Napoli, Italy siciliano@disna.dis.unina.it 2. Discussion This contribution will focus on the state-of-the-art of con- trol problems in robotics. Beyond its tutorial value, the work aims at identifying challenging control problems that must be addressed to meet future needs and demands, as well as at indicating preliminary solutions to the identi- fied problems. Coverage of the various topics will start from the closest issues related to industrial robotics, such as force control, multirobots and dexterous hands, to the farthest advanced issues related to underactuated and non- holonomic systems, as well as to teleoperation, haptic in- terfaces and visual servoing. 1. Introduction Robotics has attracted an ever increasing number of con- trol researchers in the latest twenty years, producing a visible cross-fertilization between the two fields. This is rather evident from the number of publications and annual conferences devoting much space to control problems in robotics.