Sensory-Based Control Robustness Issues and Modelling Techniques Application to Proximity Sensing

  • Bernard Espiau
Part of the NATO ASI Series book series (volume 57)


This paper deals with the use of sensors in the case where the realization of real-time closed-loop control with regard to the environment is needed. From this analysis are excluded, for example, high-level visual functions (sorting, recognition, inspection), which are activated from time to time, while force sensing, proximity or range sensing are included when locally performed. The interest in such sensors is to contribute to a kind of task measurement by providing information about the local environment of a robot, thus improving its flexibility and adaptivity capabilities [LE BORGNE 84]


Obstacle Avoidance Sensory Output Assembly Task Ideal Trajectory Output Regulation Problem 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Bernard Espiau
    • 1
  1. 1.Centre de Rennes Campus de BeaulieuINRIARennes CedexFrance

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