Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 10 docx

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Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 10 docx

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S  # Q3& 5;LQ;Q;&=UL ?=W&K =+ SK# @SKA# 5L Q3& $U8 ?K=$U Q &QW&&; ) ;$ -C @SKA))& - ) ) $ $ ) $ &- $  - $ ! D)@RA&) $ ! D)  @RA @/CNA 3& $&.;5Q5=; =+ ?=W&K 5L 5;$&?&;$&;Q =+ Q3& =;.2UKQ5=; ;$ K&?K&L&;QL Q3& ?=W&K Q3& K==Q &X 3;2&L W5Q3 Q3& &;V5K=;9&;Q 5Q 5L 5;Q&K Q5;2 W5Q3C &Q  & Q3& Q59& L&Q ;$ 8&Q   5;$5 Q& Q3& L&Q =+ 9?L +=K9  Q= Q3& L? & C Q 5L ?=LL58& Q= $&.;& Q3& 5;Q&2K8 =+  0=W 25V&; ; 5;5Q58 5;LQ;Q G !  ;$ Q3& =KK&L?=;$5;2 5;5Q58 =;.2UKQ5=; L@G A !C ".)<)0. #5> 3-207, ).<&7, 0  $0A45 ) Q&9?=K8 5;Q&2K8 =+  0=W  @.A !   2F< B) B+/ =B  0 G+B) +0+B+. 20$(E<B+20 L  02B I  7   @HA'H += B) 0*"B2< 20$(E<B+20 L@.A !  =E) B)B  7  3 @L@GA& %L@GAA)@&@GAA 0 L@G A)L  G)<   @.A 02B= B) + (<2E4 <+()B B<0=.B+20 0  02B= B) +0B+BI ./0B 2! B) + (<2E4 @RA + +@RA7 L5;2 Q3& K523Q QK;L8Q5=;# Q3& =;.2UKQ5=; K&LU8QL &X?K&LL&$ 5; ; 5;&KQ58 +K9&# W358&# 5+ W& UL&$ Q3& 8&+Q QK;L8Q5=;# Q3& =;.2UKQ5=; W=U8$ 3V& &&; &X?K&LL&$ 5;  +K9& K525$8Y =;;& Q&$ Q= Q3& ?=W&K ?=KQC & 3V& ;=W 88 Q3& &8&9&;QL ;& &LLKY +=K 25V5;2 Q3& +=88=W5;2" ;GS , D8E<D$8Q 28 :DJ1625J:828 E$" $5$682<M5J2:8 ".)<)0. #5=5 ) U;5V&KL& =+ ?=KQ4=UQ =9&L += B) =B  ) @L& -& )A !    7  3 @L@GA& %L@GAA)@&-@GAA4G !  @/C'A 3& U;5V&KL& =+ ?=KQ4=UQ =9&L K&?K&L&;Q 88 Q3& =UQ =9&L Q3Q K& =9?Q58& W5Q3 Q3& LQKU QUK& =+ Q3& LYLQ&9 U;$&K =;L5$&KQ5=;C 3& 42<B )F+2< ; & Q3&; $&.;&$ L 1# ;9&8Y L  LUL&Q =+ =9?Q58& ?=KQ4=UQ =9&LC 3& &3V5=K =+  $Y;95 8 LYLQ&9 ; & K&?K&L&;Q&$ Q3K=U23 $Y;95 8 &3V5=K8 &EUQ5=;L UL5;2 Q3& =; &?Q =+ 6&Q L? &# L&& & C >CTCRC ; + Q# 5Q 5L ?=LL58& Q= $&.;& Q3& +=88=W5;2 ".)<)0. #5% 3B<. : 3# (077 207< *< 8245 ) HB0 : 3# * 2<< 42<B ,B =4 += $0 B2  B) =4 + )  G)<  ) ) + S  ) 0 S  ) += B) : 3# 4<2.20(B+20 2! S   $0 = +0 97537'67 &Q  &  &3V5=K $&.;&$ L  LUL&Q =+ Q3& U;5V&KL& =+ ?=KQ =UQ =9&LC Q 5L ?=LL58& Q= &X?K&LL  ?KQ5 U8K &3V5=K Y 9&;L =+  L&Q =+ $5,&K&;Q58 &EUQ5=;L Y UL5;2 Q3& &XQ&;$&$ : 3# =K$&K 6&Q L? &C ".)<)0. #5# 3'@)07 7278.<, C  )!7.<), 6?<)0.45 ) )F+2< 10  <4<=0B I  +"<0B+. 9EB+20 +! B)< H+=B=  20B+0E2E= !E0B+20   5 "  +  )   5    0 ==2+B +"<0B+. 9EB+20 B2  =E) B)B B) =E=B 2!  +  ) $0 I     ) @G& K ) A    5 @G& K ) A)[ 5  @/C<A += 9E. B2 7 3& ?K&V5=UL $&.;5Q5=; 88=WL Q= &X?K&LL  &3V5=K#  LUL&Q =+ Q3& U;5V&KL& =+ ?=KQ =UQ =9&L# L Q3& 7&K;&8 =+  ?K=?&K8Y $&.;&$ 9? =; Q3& : 3# 4=K$&K &XQ&;$&$ 6&Q L? & =+ Q3& ?=KQ =UQ =9&LC =Q3 +=K V&K5. Q5=; =+ ?&K+=K9; &L ;$ +=K =;QK=8 ?UK?=L&L 5Q 5L UL&+U8 Q= $&.;& Q3& +=B0 &QW&&; QW= ?=KQ &3V5=KLC U??=L& Q3Q  &KQ5; &3V5=K 5L $&L K5&$ Y   5 ;$ Q3Q K ( @GA 5L Q3& 9&LUK&$ ?=KQ =UQ =9& Q Q59& GC ".)<)0. #5: 3'@)07, @)<)0.45 ) )F+2<. F+B+20 B B+/ G *@GA2!K ( @.A !<2/  B) )F+2< H4<== I   5 += $0 B2  *@GA)  5 @G& =C ) K ( @GAA @/C>[A G)< .+= B) E.+0 02</ 2!  5 &KY =+Q&;  &3V5=K $&?&;$L =;  &KQ5; L&Q =+ ?K9&Q&KL W35 3 ; & Q59& VKY5;2C ; Q3& L&EU&8# Q35L L&Q =+ ?K9&Q&KL W588 & 5;$5 Q&$ L" =@GA)@=  @GA& &= ) @GAA G !  @/C>>A ;$ Q3& $&?&;$&; & =+  &KQ5; &3V5=K =;  L&Q =+ ?K9&Q&KL W588 & 9$& &X?85 5Q# W3&; ;&&$&$# Y Q3& +=88=W5;2 ;=QQ5=;"  ,3 5 @.AC ,?K  $0N2:D5 D6$O:D4 (:D N5MJ28/ D8E<D$8Q ;G;          !#(+!(  .(!  +    /$8$D2 J$5$:<$DJ:D? #5=5> 7.827.C ). ,-.)2?,<)0.  ?=KQ4958Q=;5; L&$ Q&8&9;5?U8Q5=; LYLQ&9 ; & K&?K&L&;Q&$ Y Q3& L 3&9& 5; 52C /C>C W= ?=KQL ; & $5LQ5;2U5L3&$" Q3& ?=W&K ?=KQ @)  &-  AY 9&;L =+ W35 3 Q3& Q&8&=?&KQ=K 5;Q&K QL W5Q3 Q3& &;V5K=;9&;Q ;$ Q3& ?=W&K ?=KQ @)  &-  A Y 9&;L =+ W35 3 Q3& 3U9; 5;Q&K QL W5Q3 Q3& Q&8&9;5?U4 8Q5=; LYLQ&9C =Q3 ?=KQL K& UL&$ Q= $&L K5& Q3& 5;Q&K Q5=; &QW&&; L=9& 9& 3;5 8 85;72&L @9LQ&K ;$ L8V& K==QLA ;$ L=9& &XQ&K;8 LYLQ&9L @Q3& 3U9; =?&KQ=K ;$ Q3& &;V5K=;9&;QAC 3& 3U9; =?&KQ=K 5;Q&K QL W5Q3 Q3& 85;7L =+ Q3& 9LQ&K K==Q W35 3 =KK&L?=;$ Q= Q3& 85;7L =+ Q3& L8V& K=4 =QL Q3Q 5;Q&K Q W5Q3 Q3& K&9=Q& &;V5K=;9&;QC 3UL# Q3& QW= ?=KQL 3V& Q3& L9& &XQ&;$&$ ?=KQ =UQ =9&L L? & @ # $&.;&$ L 5; EC@/COAA ;$ Q3& L9& U;5V&KL& =+ ?=KQ =UQ =9&L @# $&.;&$ 5; EC@/C'AAC  Q&8&9;5?U8Q5=; LYLQ&9 5L ?&K+& Q8Y QK;L?K&;Q 5+ Q3& &3V5=K Q Q3& ?=KQ @)  &-  A 5L Q3& L9& L Q3& &3V5=K Q Q3& ?=KQ @)  &-  AM 5; + Q# 5+ Q35L 3??&;&$# 5Q W=U8$ 9&; Q3Q Q3& +&&85;2 $&K5V5;2 Y Q3& 5;Q&K Q5=; &QW&&; Q3& L8V& K==Q ;$ Q3& &;V5K=;9&;Q @$&Q&K95;&$ Y Q3& I0/+ <.B+20 &QW&&; )  ;$ -  A 5L &X Q8Y K&?K=$U &$ Q Q3& ?=KQ @)  &-  A ;$# Q3&K&+=K&# Q3& =?&KQ=K W=U8$ 3V& Q3& +&&85;2 =+ 5;Q&K Q5;2 W5Q3 Q3& &;V5K=;9&;Q L 5+ 3&PL3& W&K& $5K& Q8Y $=5;2 Q3QC &Q   !& Q3& ?=KQ &3V5=K =+ Q3& &;V5K=;9&;Q ;$    3 5 "  + )   5 & Q3& L&Q =+ $5,&K&;Q58 &EUQ5=;L K&?K&L&;Q5;2 Q3& ?=KQ4&3V5=K   $&?&;$5;2 =; Q3& L&Q =+ ?K9&Q&KL )@GAC &Q# +UKQ3&K9=K&# K  @GA !  & Q3& ?=KQ =UQ =9& Q Q3& 3U9; ?=KQ Q Q59& GC ".)<)0. #59 37.827.C45  B./0+4E.B+20 =I=B/ += QK;L?K&;Q +!    3 5 @G& K  @GAA)[ 5 @/C>TA 3UL ?&K+& Q QK;L?K&; Y 5L  35&V&$ 5+ Q3& ?=KQ4=UQ =9& ?&K &5V&$ Y Q3& 3U9; &X Q8Y K&?K=$U &L Q3& &3V5=K Q Q3& &;V5K=;9&;Q ?=KQC  9&LUK& =+ ;=; QK;L?K&; Y 5L 25V&; Y Q3& $&V5Q5=; =+ Q3& 3U9; ?=KQ +K=9 Q3& &3V5=K   C 3& +=88=W5;2 B<0=4<0I F+B+20 +0H ; & $&.;&$C ".)<)0. #5 37.827.C @)<)0. ).B45 ) QK;L?K&; Y $&4 V5Q5=; 5;$&X * += $0 I B) !2 2G+0( <.B+20 *@GA) 3 5 @G& =C ) K  @GAA @/C>RA ;GL , D8E<D$8Q 28 :DJ1625J:828 E$" $5$682<M5J2:8 ; L& =+ ?&K+& Q QK;L?K&; Y * ) [C = K&EU5K&  &KQ5; $&2K&& =+ QK;L?4 K&; Y# 5Q 5L ?=LL58& Q= .X  =U;$ ! !   ;$ $&L52;  Q&8&9;5?U8Q=K LU 3 Q3Q" *@GA ' ! 4G !  @/C>1A K;L?K&; Y ;$ QK;L?K&; Y $&V5Q5=; 5;$&X L $&.;&$ 5; &+C /CN ;$ &+C /C' K& V&KY 2&;&K8 =; &?QL V85$ +=K =Q3 85;&K ;$ ;=;85;&K LYLQ&9L ;$# Q3&K&+=K&# V&KY LU5Q8& +=K Q3& ;8YL5L =+ =9?8&X Q&8&9;5?U8Q=KLC #5=5= 7.827.< ,-.)2?,<)0. 8  '@)07, 0.<70, 70,- Q +=88=WL +K=9 Q3& 25V&; $&.;5Q5=;L Q3Q 5; =K$&K Q= &V8UQ& Q3& QK;L?K&; Y =+  Q&8&9;5?U8Q5=; LYLQ&9  9=$&8 =+ Q3& &;V5K=;9&;Q 5L K&EU5K&$C =K Q3& K&L=;L $5L ULL&$ 5; & C /C># Q3& U;Q4K=LL8Y 9=$&8 5L $=?Q&$C K&& 9=Q5=; =+ Q3& L8V& ; & 5;Q&K?K&Q&$ L Q3& 5;Q&K Q5=; =+ Q3& L8V& W5Q3  ?KQ5 U8K &;V5K=;9&;Q W3=L& U;Q4K=LL8&Y 9=$&8 3L 88 Q3& =&- 5&;QL &EU8 Q= [C 3& $Y;95 LQKU QUK& =+ Q3& 9=$&8 =+ Q3& &;V5K=;9&;Q# Q3&K&+=K&# W588 & 8WYL Q3& L9& ;$ W3Q W588 3;2&# $&?&;$5;2 =; Q3& 75;$ =+ &;V5K=;9&;Q# W588 & Q3& ?K9&Q&KL 3K Q&K5Z5;2 Q3& 9=$&8C LQ&K ;$ L8V& =;QK=88&KL 3V& Q= & $&L52;&$ 5; LU 3  WY Q3Q  &KQ5; $&2K&& =+ QK;L?K&; Y 5L 2UK;Q&&$C 35L =;QK=8 ?K=8&9 ; & +=K9U8Q&$ 5; Q3& &3V5=K8 +K9&W=K7" '@)07, 0.<70, 70,- 1 +F0 0 0F+<20/0B G+B)  <B+0 42<B*)F+2<   1<4<=0B I     5 0  2E0 ! !   <4<=0B+0( B) =+< (< 2! B<0=4<0I $0  20B<2 < =E) B)B B) B<0=4<0I F+B+20 +0H * )     5 @=C ) K  A += =E) B)B *@GA ' ! 4G !   ?=LL58& 2U5$&85;& +=K Q3& $&Q&K95;Q5=; =+ Q3& QK;L?K&; Y =U;$ 5L Q3& =99U;5 Q5=; $&8YC ; + Q Q3& QK;L95LL5=; $&8Y &QW&&; 9LQ&K ;$ L8V& L5$& $&Q&K5=KQ&L QK;L?K&; Y ;$ Q3& QK;L?K&; Y $&2K&& Q3Q ; & =Q54 ;&$ 5L =U;$&$ Y Q3& =99U;5 Q5=; $&8YC UKQ3&K9=K&# ;=Q3&K +U;$9&;4 Q8 + Q=K Q= Q7& 5;Q=  =U;Q 5; Q3& $&L52; =+ Q3& =;QK=88&K 5L Q3Q LQ585QY =+ Q3& =V&K88 Q&8&9;5?U8Q5=; LYLQ&9  & 2UK;Q&&$ 5; 88 W=K75;2 =;$5Q5=;LC  Q&8&9;5?U8Q5=; LYLQ&9 3L Q= 5;Q&K Q W5Q3 L&V&K8 75;$L =+ &;V5K=;4 9&;Q ;$# Q3&K&+=K&# Q= 7&&? =; 2UK;Q&&5;2 Q3& L9& $&2K&& =+ QK;L?K&; Y# Q3& =;QK=88&KL 3V& Q= 3;2&C L5;2 U;Q4K=LL8&Y 9=$&8# Q3& 9=$&8 LQKU 4 QUK& +=K Q3& =;Q Q 5L Q3& L9&M =;Q QL W5Q3 $5,&K&;Q &;V5K=;9&;QL 3V& Q3& L9& 9=$&8 UQ $5,&K&;Q ?K9&Q&KLC 3UL# 5; =K$&K Q= 7&&? 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& 5Q W=U8$ $&LQ585Z& Q3& =V&K88 Q&8&9;5?U8Q5=; LYLQ&9# L ?K=V&; 5; K=?=L5Q5=; 1CTC 3& ?=W&K ?=KQL @) ( @4A&- ( @4AA ;$ ) 1 @4A&- 1 @4AA ; & K&?K&L&;Q&$ L ?5KL =+ $5L K&Q& L QQ&K5;2 VK58&L @D  ( @4A&D  ( @4AA ;$ @D  1 @4A&D  1 @4AA K&L4 ?& Q5V&8Y# W3&K&"    D   @4A)      @)  @4AD -  @4AA D   @4A)      @)  @4A * -  @4AA  ) 8& D @/CT[A =95;5;2 EC@/CT[A W5Q3 EC@/C>'A# Q3& =99=; &,=KQ 5;Q&K =;;& Q5=; ; & &EU5V8&;Q8Y K&LQQ&$ 5; Q&K9L =+ L QQ&K5;2 VK58&L L"    D  ( @4A)D  1 @4A D  1 @4A)D  ( @4A @/CT>A L ?K=V&; 5; & C 1C1 Q35L =99U;5 Q5=; LQKQ&2Y ; & L+&8Y UL&$ 8L= 5; L& =+ ;=; ;&285258& $&8Y 8&$5;2 Q= Q3& +=88=W5;2 5;Q&K =;;& Q5=;"    D  ( @4A)D  1 @4 * (A D  1 @4A)D  ( @4 * (A @/CTTA W3&K& ( 5L Q3& =99U;5 Q5=; $&8Y &QW&&; 9LQ&K ;$ L8V& L5$&L ;$ V5 &4 V&KLC /<- %73D7 3& K&LU8QL =+ Q35L LUL& Q5=; ; & &L58Y 2&;&K85Z&$ 5; L& Q3& =99U;5 Q5=; $&8YL &QW&&; 9LQ&K ;$ L8V& L5$&L ;$ V5 &V&KL K& $5,&K&;QC 3UL L QQ&K5;2 Q3&=KY ; 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& C 1C1 UL5;2 Q3& +K9&W=K7 ?K=?=L&$ 5; & C /CRC 35L 75;$ =+ =99U;5 Q5=; 3;;&8 ; & 8L= UL&$ +=K 5;Q&K =;;& Q5;2 9LQ&K ;$ L8V& L5$&L =+ 2&;&K5 ?LL5V5QY L&$ Q&8&K==Q5 LYLQ&9L ;$# Q3&K&+=K&# Q3& +=88=W5;2 =;L5$&KQ5=;L K& UL&+U8 8L= +=K ;=; ?=KQ4958Q=;5; L&$ Q&8&9;5?U8Q5=; L 3&9&LC 3& 5$&8 ?=KQ &3V5=K  W35 3 2UK;Q&&L  =9?8&Q&8Y QK;L?K&;Q 5;Q&K4 =;;& Q5=; &QW&&; Q3& 9LQ&K ;$ Q3& L8V& L5$&L 5L 25V&; Y Q3& =99=; &,=KQ 5;Q&K =;;& Q5=;C L5;2 EC@/C>'A# Q3& 5$&8 ?=KQ &3V5=K ; & K&?K&4 L&;Q&$ L Q3& 7&K;&8 =+ Q3& +=88=W5;2 =?&KQ=K"   @4& - ( @4A&- 1 @4A&) ( @4A&- ( @4AA )   - ( @4AD- 1 @4A ) 1 @4A *) ( @4A !  @/CTRA W3&K& Q3& ?=KQ =UQ =9& K&$U &L Q= @- ( @4A&- 1 @4A&) ( @4A&) 1 @4AA L5; & Q3& 5;Q&K =;;& Q5=; 5L ;=Q 3K Q&K5Z&$ Y  =;.2UKQ5=;C =Q5 & Q3Q Q35L 5L  $&2&;&KQ& L& =+ ?=KQ &3V5=K L5; & 5Q 5L L59?8Y K&?K&L&;Q&$ Y ; 82&K5 K&8Q5=; &QW&&; Q3& ?=W&K VK58&LC Q 5L ?=LL58& Q= &V8UQ& Q3& QK;L?K&; Y =+ Q3& QK;L95LL5=; 85;& L Q3& &3V5=K8 $&V5Q5=; +K=9Q3& 5$&8 &3V5=K  W3&; Q3& =99U;5 Q5=; $&8Y 5L ?K&L&;QC L5;2 EC@/CT[A 5; EC@/CTTA# Y 8&;2Q3Y UQ LQK523Q+=KWK$ =9?UQQ5=;L# Q3& =99U;5 Q5=; LQKQ&2Y ; & &EU5V8&;Q8Y K&LQQ&$ 5; Q&K9L =+ &,=KQL ;$ 0=WL L"    - 1 @4A)*- ( @4AD@- ( @4A *- ( @4 * (AA D  @) ( @4 * (A * ) 1 @4AA ) ( @4A)) 1 @4A *@) 1 @4A *) 1 @4 * (AA * @- ( @4AD- 1 @4 * (AA @/CT1A 3UL# UL5;2 EC@/CT1A 5; EC@/CTRA ;$ ??8Y5;2 &+C /C'# Q3& QK;L?K&; Y $&V5Q5=; 5;$&X &V8UQ&$ +=K Q3& $&8Y&$ L QQ&K5;2 L&$ =99U;5 Q5=; 3;;&8 5L 25V&; Y" * )   !  &!  &    &  &   &  &!  &!  &  '   !  &!  &   &  &        D       &  & !  &!  &        @/CT/A 3& QK;L?K&; Y $&V5Q5=; 5;$&X 5L =U;$&$ Y  LU9 =+ LU45;$&X&LC  3 =+ Q3&L& 5;$&X&L K&?K&L&;QL Q3& &,& Q =; QK;L?K&; Y =+  ?KQ5 U8K ?3&;=9&;=; = UKK5;2 5; Q3& 59?8&9&;QQ5=; =+ Q3& QK;L95LL5=;C 3& Q&K9 *  $&L K5&L . =?&KQ=K"   @4& - ( @4A& ;- 1 @4A&) ( @4A& ;- ( @4AA )   - ( @4AD- 1 @4A ) 1 @4A *) ( @4A !  @/CTRA W3&K& Q3& ?=KQ =UQ =9& K&$U &L Q= @- ( @4A& ;- 1 @4A&) ( @4A&) 1 @4AA L5;. &,=KQL ;$ 0=WL L"    - 1 @4A) *- ( @4AD @- ( @4A *- ( @4 * (AA D  @) ( @4 * (A * ) 1 @4AA ) ( @4A)) 1 @4A *@) 1 @4A *) 1 @4 * (AA * @- ( @4AD- 1 @4 * (AA @/CT1A 3UL# UL5;2 EC@/CT1A. VK58&L L            - 1 @4A) *- ( @4AD @- ( @4A *- ( @4 * (AAD D  @) ( @4 * (A * ) 1 @4AA *"  D  ( @4 * (A ) ( @4A)) 1 @4A *@) 1 @4A *) 1 @4 * (AA* * @- ( @4AD- 1 @4 * (AA * $D  1 @4

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