Intro
Preface
Organization
Contents
Part II
Hybrid System Modeling and Human-Machine Interface
Generation of Collision-Free Five-Axis Sweep Scanning Path Using Graphics Engine
1 Introduction
2 Preliminary
3 Collision-Free Scanning Path Planning
3.1 Image-Based Representation of Collision-Free Conditions
3.2 Collision Detection by Graphics Engine
3.3 Incremental Algorithm for Generating Admissible Areas
4 Experiment
5 Conclusion
References
Multi-robot Cooperative System Modeling and Control Software Development
1 Introduction

2 Multi-robot Collaborative System Modeling
2.1 Coordinated Operation Model
2.2 Kinematic Modeling
2.3 Dynamics Modeling
3 Collaborative Control System Frame and Methods
3.1 Control Frame Design
3.2 Position and Force Distribution
3.3 Motor Control and Motion Planning
3.4 Multi-arm Compliance Control Method
4 Control System Software
4.1 Demand Analysis
4.2 Overall Design
4.3 Design of Each Layer
4.4 Main Modules
4.5 Software Interface
5 Experiment Verification
5.1 Experimental System
5.2 Motion Planning Experiment

5.3 Compliance Control Experiment
6 Conclusion
References
Gesture Recognition and Conductivity Reconstruction Parameters Analysis with an Electrical-Impedance-Tomography (EIT) Based Interface: Preliminary Results
1 Introduction
2 The Hardware and Algorithm of Measurement System
2.1 Hardware
2.2 Construction Algorithms
3 Methods
3.1 Gesture Recognition Based on EIT
3.2 Conductivity Reconstruction Parameters Analysis
4 Results
4.1 Recognition Accuracy
4.2 The Effect of EIT Parameters
5 Discussions and Conclusions
References

Robot Manipulation Skills Learning
Depth from Shading Based on Online Illumination Estimation Under RAMIS Environment
1 Introduction
2 Shape from Shading
3 Method
4 Experiment and Result
5 Conclusion
References
Self-learning Visual Servoing for Robot Manipulation in Unstructured Environments
1 Introduction
2 Descriptions on Visual Servoing
3 Robust MCSIS Learning Estimator
4 Nonparametric Visual Servoing Framework
5 Results and Discussions
6 Conclusion
References
Obstacle Avoidance Methods Based on Geometric Information Under the DMPs Framework

1 Introduction
2 Obstacle Avoidance Based on Geometric Information
2.1 The Fundamental Principle of DMPs Framework
2.2 Obstacle Avoidance Based on Ellipsoidal Offset of Static Obstacles
2.3 Obstacle Avoidance Based on Dangerous Zone Offset of a Moving Obstacle
3 Simulation and Analysis
3.1 Simulation
3.2 Trajectory Evaluation in Static Obstacle Avoidance
4 Real Experiments in Static and Dynamic Environment
5 Conclusion
References
Integrated Classical Planning and Motion Planning for Complex Robot Tasks
1 Introduction
2 Literture Review
3 Methods