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Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 2 doc

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B<+4. @ & & A G)<  += B) B+/ H+=  +=  =B   L52;8 L? & 0
1

+=   B) )F+2<7 < 

+0+B= B) =B 2! /4= !<2/ 
B2 7
3& Q59& X5L K&?K&L&;QL Q3& =K$&K&$ L&Q =+ Q59& 5;LQ;QL =+ 5;Q&K&LQ# Q3& L52;8
L? &  K&?K&L&;QL Q3& L&Q W3&K& Q3& =UQ =9&L =+ Q3& LYLQ&9 &V=8V& ;$ 

K&?K&L&;QL Q3& U;5V&KL&# ;9&8Y Q3& L&Q =+ 88 QK6& Q=K5&L Q75;2 V8U& 5; Q3&
L52;8 L? &C ;8=2=UL8Y Q= 9Q3&9Q5 8 9=$&8L# Q3& &3V5=K  5L ;=Q35;2
&8L& Q3;  LUL&Q =+ Q3& U;5V&KL& W35 3 L&8& QL  +958Y =+ Q59& QK6& Q=K5&L
Q3Q K& =9?Q58& W5Q3 Q3& LYLQ&9C
".)<)0. 15 3)- ).@7).45  I0/+. =I=B/  )@ & & A +=
=+ B2  Q59& 5;VK5;Q +! E
3
 )  !2<  G ! G)< E
3
+= B) Q4L35+Q
=?&KQ=K $0 =
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3
-A@HA)-@H D GA @>CRA
3& Q59& 5;VK5; & ?K=?&KQY LYL Q3Q Q3& &3V5=K =+ Q3& $Y;95 8 LYLQ&9
$=&L ;=Q $&?&;$ &X?85 5Q8Y Y Q3& Q59&# L W&88 7;=W; +K=9 LYLQ&9 Q3&=KY
>T'# T'1C
; Q35L 3?Q&K W& 59 Q 9=$&85;2 ?3YL5 8 LYLQ&9L ;$# Q3&K&+=K&# Q3&
&3V5=K8 +K9&W=K7 W588 & 588ULQKQ&$ +=K =;Q5;U=UL $Y;95 8 LYLQ&9L


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$5,&K&;Q58& 9;5+=8$ @Q35L 5L ;=Q K&LQK5 Q5V& +=K Q3& 9=$&85;2 ?UK?=L&L ;$
5Q 5L ; &LL&;Q58 Q& 3;5 8 LLU9?Q5=; +=K 9;Y $&.;5Q5=;LA ;$ W& W588 LLU9&
Q3Q Q3& $Y;95 8 LYLQ&9L U;$&K =;L5$&KQ5=; K& Q59& 5;VK5;QC 3& K&LU8QL
588ULQKQ&$ 5; Q35L L& Q5=; ; & &L58Y &XQ&;$&$ Q= $5L K&Q& Q59& $Y;95 8
LYLQ&9L# L L3=W; 5; RR[C
Q 5L ?=LL58& Q= $&L K5& Q3& &3V5=K =+  $Y;95 8 LYLQ&9 Y 9&;L
=+ $5,&K&;Q58 &EUQ5=;L ;$ Q35L ; & +=K985Z&$ Y UL5;2 Q3& =; &?Q =+
6&Q L? & TT>C =;L5$&K  $5,&K&;Q58& 9;5+=8$  ;$ Q7& L Q59& X5L C
=;L5$&K  LU- 5&;Q8Y L9==Q3 9? .@.A !

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Q59& $&K5VQ5V& +=K ;Y ?=LL58& .@.A !

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H ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E

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B) =4  +
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9?K !


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8 U8Q&$ 5; G U? Q= =K$&K :C
".)<)0. 151E 3C.-), '@)07, 6?<)0.845 B    +"*
<0B+. /0+!2. G)+) <4<=0B= B) =+(0. =4   B) B+/ H+= :
  0200(B+F +0B(<5B) =K$&K 2! B) +"<0B+. 9EB+206 0   B)
&EUQ5;2 L? &7 20=+< BG2 /4=
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A
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Q3Q  9=$&8 =+ Q3& &3V5=K =+ Q3& ?=KQ VK58&L  ;$  5L ;&&$&$C ; Q35L
L& Q3& Q59& X5L 5L  ;$ Q3& L52;8 L? & 5L 

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+=K $Y;95 8 LYLQ&9LC
".)<)0. 151> 3C.-), 8C8<- A)<' ,<.< @7),845  I0/+*
. =I=B/ G+B) .B0B F<+.= += $0 = 

)@& & & 
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A G)<  +=
B) B+/ H+=  += B) /0+!=B =+(0. =4  += B) .B0B F<+.= =4

0 
!
1 @+A

+= B) !E )F+2<7 B $0=  .B0B F<+. <4<*
=0BB+20 2! B) /0+!=B I0/+. =I=B/  )@& & A G+B) B) !2 2G+0(
/0+!=B )F+2<
 ) K "   #5 "  =E) B)B @K&5A !
!
 @>C>TA
Q&;Q VK58&L ; ??&K 5; 9=$&85;2 $Y;95 8 LYLQ&9L +=K VK5=UL K&4
L=;LC 5KLQ# Q3&Y ; & UL&$ L59?8Y +=K 9Q3&9Q5 8 K&L=;L# 5; =K$&K Q= =4
Q5;  ?KQ5 U8K +=K9 =+ Q3& &3V5=K8 &EUQ5=;LC & =;$# Q3&Y ; & UL&$Q=
&X?K&LL 5;Q&K;8 8WL 2=V&K;5;2 Q3& &3V5=K =+ Q3& LYLQ&9C  +&W &X9?8&L K&
5;Q&K;8 UKK&;Q ;$ V=8Q2&L Q= &X?K&LL Q3& &3V5=K =+ ; &8& QK5 8 5K U5Q Q
&XQ&K;8 ?=KQL ;$ 9=9&;QU9 5; 8LL5 8 958Q=;5; 9& 3;5 L Q= &X?K&LL
Q3& &V=8UQ5=; =+ ?=L5Q5=;C UKQ3&K9=K&# 8Q&;Q VK58&L ??&K W3&; 9=$&85;2
 LYLQ&9 W35 3 5L =9?=L&$ Y Q3& 5;Q&K =;;& Q5=; =+ L&V&K8 LULYLQ&9LM 5;
Q35L L& 8Q&;Q VK58&L W588 &X?K&LL Q3& 5;Q&K =;;& Q5=; =;LQK5;QLC  V&KY
59?=KQ;Q 8LL =+ 8Q&;Q VK58&L 5; LYLQ&9 Q3&=KY K& LQQ& VK58&L W3=L&
K=8& 5L Q= K&?K&L&;Q Q3& 5;Q&K;8 9&9=KY =+ Q3& LYLQ&9C
".)<)0. 151= 3<< 82 C.-), 8C8<-45  LQQ& L? & $Y;4
95 8 LYLQ&9 +=  I0/+. =I=B/ G+B) .B0B F<+.= 

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9E+<= G)B !2 2G=
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3& X5=9 =+ LQQ& K&EU5K&L Q3Q ;Y ?=LL58& QK6& Q=KY 5+ Q3& +U88 &3V5=K

!
&;$5;2 5;  ?KQ5 U8K LQQ& ; & =; Q&;Q&$ W5Q3 ;Y =Q3&K QK6& Q=KY
LQKQ5;2 +K=9 Q3Q LQQ&C ; =Q3&K W=K$L# 5Q LL&KQL Q3Q =; & Q3Q Q3& 5;5Q58
LQQ& 5L 7;=W;# Q3&K& 5L &;=U23 5;+=K9Q5=; Q= $&Q&K95;& Q3& +UQUK& &3V5=K
;$ Q3&K& 5L ;= ;&&$ =+ +UKQ3&K 5;+=K9Q5=; =+ Q3& ?LQ QK6& Q=KYC 3& X5=9=+
LQQ& +=K985Z&L  =; &?Q V&KY W&88 7;=W; L5; & L5 LYLQ&9 Q3&=KY =UKL&L"
B) =BB 2!  I0/+. =I=B/ 20B+0= =E#+0B +0!2</B+20 2EB B) 4=B
+0 2<< B2 B</+0 B) !EBE< )F+2<7
 EU&LQ5=; Q3Q K5L&L V&KY ;QUK88Y Q Q35L ?=5;Q 5L" 2G 0 =BB =4
I0/+. =I=B/=  <4<=0B I +"<0B+. )F+2<. 9EB+20=:
3& +=88=W5;2 Q3&=K&9 3=8$L"
'07- 151% 3),,-8 1//145 B 

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A   I0/+.
=I=B/ G+B) .B0B F<+.= 0 .B    +"<0B+. /0+!2. 0  
+B= B0(0B E0.7 20=+< BG2 /4= -

&-

" +G)<  += B)
9EB+0( =4 7 ) +"<0B+. 9EB+20
-

@@L& %LA&KA)-


@@L& %LA&KA
$0=  =BB =4 =I=B/ @& & & 
!
A G+B)

!
) @K& LA" +L += =2.EB.I 20B+0E2E= 0 -

@L@GA& %L@GA&K@GAA )
-

@L@GA& %L@GA&K@GAA !2< ./2=B  G ! 
3&=K&9 >C>1 L3=WL Q3Q Q3& +U;$9&;Q8 =;$5Q5=; +=K  LQQ& L? & $Y;4
95 8 LYLQ&9 5L Q3Q Q3& &3V5=K8 $5,&K&;Q58 &EUQ5=;L K& =+ .KLQ =K$&K5;
L ;$ =+ Z&K= =K$&K 5; KC 3& Q3&=K&9 $=&L  LQQ& Q3Q Q3& &3V5=K8
$5,&K&;Q58 &EUQ5=;L 9ULQ & ;& &LLK58Y &X?85 5Q# 5C&C =+ Q3& +=K9"
%L ) -@L& KA @>C>RA
3& K&?K&L&;QQ5=; 25V&; +=K LQQ& L? & $Y;95 8 LYLQ&9 5L Q3&K&+=K& 8&
Q= K&?K&L&;Q =Q3 &X?85 5Q ;$ 59?85 5Q LYLQ&9LC
15>5% .2?<8 . ?<2?<8
= +K ;= $5LQ5; Q5=; 3L &&; 9$& &QW&&; 5;?UQL ;$ =UQ?UQLC 35L 5L ;=Q 
W&7 ?=5;Q =+ Q3& &3V5=K8 ??K= 3# L 5Q =U8$ & LQQ&$ Q  .KLQ 28; &#
KQ3&K 5QL LQK&;2Q3C ;?UQL ;$ =UQ?UQL L3=U8$ & E !<2/ Q3& 9Q3&94
Q5 8 9=$&8 =+  &KQ5; ?3&;=9&;=; ;$ ;=Q +/42= 20 Q3& 9=$&8C ; + Q#
+=K &X9?8&# 5; ?3YL5 8 LYLQ&9L 5Q 5L ;=Q 8WYL 8&K W35 3 VK58& L3=U8$
& 3=L&; L 5;?UQ ;$ W35 3 L =UQ?UQC =;L5$&K5;2 ; &8& QK5 8 K&L5LQ=K#5Q
5L ;=Q 8&K W3&Q3&K V=8Q2& 3L Q= & Q7&; L 5;?UQ ;$ UKK&;Q L ; =UQ?UQ
=K V5 & V&KLC UKQ3&K9=K&# Q3& 3=5 & =+ 5;?UQ ;$ =UQ?UQ =U8$ $&?&;$ =;
Q3& =?&KQ5;2 ?=5;Q =+ Q3& LYLQ&9C 5;88Y# Q3& 3=5 & =+ 5;?UQL ;$ =UQ?UQL

=U8$ 8L= $&?&;$ =; Q3& L?& 5. QL7 Q3& LYLQ&9 3L Q=  =9?85L3C Q 5L
;?L 0$ $0N2:D5 D"2/6 (:D :"$528/ Q8625 QEJ$6E 9
Q3&; 8&K Q3Q 5; =K$&K Q= 2&Q  2&;&K8 9Q3&9Q5 8 9=$&8# 5Q 5L &QQ&K Q=
UL& Q3& =; &?Q =+ =UQ =9& KQ3&K Q3; L?& 5+Y  4<+2<+ 5;?UQL ;$ =UQ?UQLC
=W&V&K 5Q 5L 59?=KQ;Q Q= & 8& Q= 5; 8U$& 5;?UQL ;$ =UQ?UQL 5; Q3& &34
V5=K8 +K9&W=K7 & UL& =+ L&V&K8 K&L=;L @&C2C +=K =;QK=8 ?UK?=L&LA 5Q ;
& ;& &LLKY Q=  Q =; L=9& 5;?UQL 5; =K$&K Q= 2&Q  $&L5K&$ =UQ?UQC
; Q3& +=88=W5;2 W& &X?85; 3=W 5Q 5L ?=LL58& Q= 25V& ; 5;?UQP=UQ?UQ
K&?K&L&;QQ5=; =+  $Y;95 8 LYLQ&9"
".)<)0. 151# 3; C.-), 8C8<-45 20=+<  )F+2<  20 
=+(0. =4  ) +70P $Y;95 8 LYLQ&9 += $0 = B) 9E<E4.

2
)@& & & A G)<  <4<=0B= B) B+/ H+=  B) 5;?UQ L52;8
L? &  B) =UQ?UQ L52;8 L? & 0 1@+A

B) )F+2<7 ) !2 2G+0(
4<24<B+= )F B2  =B+=$
37 I !

+= !<> +77 !2<  I ! B)< H+=B=  N !

=E) B)B @I& NA !7
D7 I !

+= /H+/ I !<> +77 020 2! B) 2/4200B= 2! N !

0 
)2=0 !<.I7
3& $&.;5Q5=; LQQ&L Q3Q ; 5;?UQP=UQ?UQ ?KQ5Q5=; =+ Q3& L52;8 L? & 5L L&;4

L58& =;8Y 5+ Q3& 5;?UQ I ; & 3=L&; +K&&8Y @?K=?&KQY >A ;$ 5+ 5Q $&Q&K95;&L
U;5V= 88Y# =; & .X&$ Q3& 5;5Q58 =;$5Q5=;L# Q3& =UQ?UQ @?K=?&KQY TAC ; =;4
QK=8 Q3&=KY  V&KY &LL&;Q58 ;$ 8=25 8 +&QUK& ; P $Y;95 8 LYLQ&9 9ULQ
3V& 5L ;=; ;Q5 5?Q5=;C 35L ?K=?&KQY K&EU5K&L Q3Q Q3& V8U&L =+ Q3& =UQ?UQ
Q  &KQ5; Q59& $=&L ;=Q $&?&;$ =; Q3& +UQUK& V8U&L =+ Q3& 5;?UQC ; P
$Y;95 8 LYLQ&9 W35 3 &;6=YL Q35L ?K=?&KQY 5L 88&$ 020 0B++4B+0( A
I0/+. =I=B/C
Q 5L ?=LL58& Q= =95;& Q3& ;=Q5=;L =+ 5;?UQ ;$ =UQ?UQ W5Q3 Q3& =; &?Q
=+ LQQ& ;$ Q= =Q5;  V&KY UL&+U8 K&?K&L&;QQ5=; =+ $Y;95 8 LYLQ&9L"
".)<)0. 151: 3;; C.-), 8C8<-45 0 AA I0/+. =I*
=B/ += $0 =  /*BE4. 
22
)@& & & & 
!
A G)<  <4<=0B= B)
B+/ H+=  B) +04EB =+(0. =4  B) 2EB4EB =+(0. =4  B) =BB
=4 0 
!
1 @+& A

B) !E )F+2<7 ) !2 2G+0( H+2/= /E=B 
=B+=$
37 @& +& & 
!
A +=  =BB =4 I0/+. =I=B/
D7 @& & +& 
!
A +=  020 0B++4B+0( A I0/+. =I=B/
C7 @& & & 


!
A +=  020 0B++4B+0( A I0/+. =I=B/7 

!
<4<=0B=
B) +04EBA=BB )F+2<


!
) @I& LA" +#N "  =7B7 @I& N& LA !
!
; PP $Y;95 8 LYLQ&9 5L ;=Q35;2 &8L& Q3;  LQQ& L? & $Y;95 8
LYLQ&9 @?K=?&KQY >A W3&K& ; 5;?UQ =UQ?UQ ?KQ5Q5=; 3L &&; 9$& =; Q3&
L52;8 L? &C UKQ3&K9=K& ;&5Q3&K Q3& =UQ?UQ ;=K Q3& LQQ& $&?&;$ =; +UQUK&
5;+=K9Q5=; =+ Q3& 5;?UQ VK58& @?K=?&KQ5&L T ;$ RAC
5V&; ; PP $Y;95 8 LYLQ&9 
22
)@& & & & 
!
A5Q5L8WYL
?=LL58& Q= =Q5; ; P $Y;95 8 LYLQ&9 
2
)@& & & A W5Q3"
;S ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E
 ) @I& NA ! @+A #L !LCQC @I& N& LA !
!

Q 5L ?=LL58& Q= ?K=V& Q3Q Q3& &3V5=K8 &EUQ5=;L Q3Q K&?K&L&;Q ; PP
$Y;95 8 LYLQ&9 K& =9?=L&$ Y =BB F2.EB+20 .G ;$ Y ; =UQ?UQ 9?
;$ ; & WK5QQ&; 5; Q3& +=K9"




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$&, 2( # "
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?3&;=9&;=;C =W&V&K# 5; =K$&K Q= 2&Q  W=K78& +K9&W=K7# 5Q 5L ;& &LLKY Q=
$$ L=9& LQKU QUK& Q= Q3& 9=$&8LC =;L5$&K5;2  &KQ5; 8LL =+ ?3&;=9&;#5Q
5L ?=LL58& Q= =Q5;  8LL =+ 9=$&8L W5Q3  ?KQ5 U8K LQKU QUK& W35 3 ;&
&X?8=5Q&$ +=K VK5=UL ?UK?=L&L" ;8YL5L =+ &KQ5; ?K=?&KQ5&L @&C2C =L&KV585QY#
K& 3585QYA# $&L52; =+  LU5Q8& =;QK=88&K# &Q C
H/4. 373?7  V&KY 59?=KQ;Q 8LL =+ $Y;95 8 LYLQ&9L 5L Q3& =;& =+ 85;&K
LYLQ&9LC 3&L& LYLQ&9L ; & 9=$&8&$ L PP $Y;95 8 LYLQ&9L W3&K&
=Q3 Q3& LQQ& L? & ;$ Q3& 5;?UQ L52;8 L? & ;$ Q3& =UQ?UQ L52;8 L? &
K& V& Q=K L? &L ;$# +UKQ3&K9=K&# W3&K& Q3& LQQ& &V=8UQ5=; 8W ;$ Q3&
=UQ?UQ 8W K& 85;&K 5; Q3& LQQ& ;$ 5; Q3& 5;?UQC 35L 8&$L Q= Q3& +=88=W5;2
V&KY W&88 7;=W; &EUQ5=;L"




%L ) L D I
N ) L D I
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W3&K& # #  ;$  K& 9QK5 &L =+ ?K=?&K $59&;L5=;LC
; Q3& ?K&V5=UL &X9?8&#  9Q3&9Q5 8 ?K=?&KQY# Q3& 85;&K5QY# $&Q&K95;&L
Q3& 75;$ =+ &3V5=K =+ Q3& LYLQ&9 ;$ 25V&L  W&88 $&.;&$ LQKU QUK& Q= Q3&
&3V5=K8 &EUQ5=;LC ; Q35L ==7# W& K& 5;Q&K&LQ&$ Q= 9=$&85;2 4)I=+.
=I=B/= ;$# Q3&K&+=K&# 4)I=+= W588 $&Q&K95;& Q3& 75;$ =+ &3V5=K =+ Q3&
LYLQ&9C Q 5L ?=LL58& Q= $&L K5& ?3YL5 8 LYLQ&9 W5Q35; Q3& &3V5=K8 +K9&4
W=K7 $&L K5&$ 5; & C >CT ;$# +UKQ3&K9=K&# Q= &X?8=5Q Q3& +&QUK&L =99=;
Q=  ?3YL5 8 LYLQ&9 Q= $&Q&K95;& Q3&5K 75;$ =+ &3V5=K ;$ Q= K5;2 5;Q=
&V5$&; &  8=Q =+ ?3YL5 8 5;+=K9Q5=; 5;Q= Q3& &3V5=K8 &EUQ5=;LC
;?K 0QE25 :"$528/ ;;


   6EE1E<D28/ EQEJ$6
3& 9=LQ 59?=KQ;Q +&QUK& 3K Q&K5Z5;2 ?3YL5 8 LYLQ&9L 5L Q3& =; &?Q
=+ 0<(I ;$ Q3Q 5Q 5L ?=LL58& Q= $&L K5& Q3&5K $Y;95 8 &3V5=K Y
9&;L =+ 0<(I F<+.=# ;9&8Y VK58&L Q3Q K& K&8Q&$ Q= &;&K2Y LQ=K2&
?3&;=9&;C  ?3YL5 8 LYLQ&9 3L  $Y;95 8 &3V5=K 5+ ;$ =;8Y 5+ L=9&
&;&K2Y &X 3;2& Q7&L ?8 & &5Q3&K 9=;2 Q3& VK5=UL ?KQL Q3Q =9?=L& 5Q
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&;&K2Y 9ULQ ?8Y  &;QK8 K=8& 5; Q3& 9=$&85;2 ?K= &LLC
=;L5$&K Q3& L59?8& 85;&K =L 588Q=K K&?K&L&;Q&$ 5; 52C >CR 9$& U? =+ 
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Q5V&8YC &Q L & Q3& $5L?8 &9&;Q =+ Q3& L?K5;2 ;$ = ) 8J


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75;&Q5 &;&K2Y LQ=K&$ 5; Q3& 9LLC U??=L& Q3Q Q3& LYLQ&9 5L =L 588Q5;2#
W3&K& $=&L Q3& 9=Q5=; $&K5V& +K=9F 3& =L 588Q=K 5L Q3& 5;Q&K =;;& Q5=; =+

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