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Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 3 pps

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;& =+ Q3& 95; LQKQ&25&L &35;$ Q3& =;QK=8 =+ ?3YL5 8 LYLQ&9L 5L Q3& L=4 88&$ 0<(I =)4+0(C 3& =;QK=88&K 5L 5;Q&K?K&Q&$ L  $&V5 & Q3Q &X 3;4 2&L &;&K2Y W5Q3 Q3& ?8;Q ;$ 5Q 3L Q= & $&L52;&$ 5; LU 3  WY Q3Q Q3& =;QK=88&$ LYLQ&9 ; LQ588 & 5;Q&K?K&Q&$ L  ?3YL5 8 LYLQ&9 W35 3 3L ;

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3& 5$& =+ &;&K2Y L3?5;2 3L &&; UL&$ +=K Q3& KLQ Q59& 5; R[O +=K Q3& =;QK=8 =+  K==Q5 9;5?U8Q=K ;$ 3L 8&$ Q= Q3& V&KY W&8847;=W  ?8UL 2KV5QY =9?&;LQ5=; =;QK=8C ;&K2Y L3?5;2 Q& 3;5EU&L 3V& &&; +KU5Q+U88Y

??85&$ Q= LYLQ&9L $&L K5&$ 5; Q3& U8&K4 2K;2& +=K985L9# +=K  K&+&K&; & L&& +=K &X9?8& TTOC

; 3?C > 5Q 3L &&; L3=W; Q3Q Q3& ?=KQ4958Q=;5; +K9&W=K7 5L V&KY W&88 LU5Q&$ +=K 9=$&85;2 ?3YL5 8 LYLQ&9L ;$# Q3&K&+=K&# 5Q 5L ?=LL58& Q= LQ Q3& ?K=8&9 =+ K&2U8Q5=; =+  ?3YL5 8 LYLQ&9 5;Q= Q3& ?K=8&9 =+ K&2U8Q5=; =+

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=+  ?3YL5 8 LYLQ&9 ; & +=K985Z&$ Y 9&;L =+ 4==+F+BI B)2<IC 3UL# Q3&

Trang 9

K L :8JD:5 :( :DJ1625J:828 QEJ$6E

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&;&K2Y L3?5;2 =;QK=8 LQKQ&2Y +=K ?=KQ4958Q=;5; LYLQ&9L# +=88=W5;2 Q3& 2&=9&QK5 5;Q&K?K&QQ5=; ?K=?=L&$ 5; >''# TT'# >'O# TTN# R><# ;$ W& L3=W W3Q K& Q3& 8595QQ5=;L =+ Q35L =;QK=8 LQKQ&2Y W35 3 K& ?KQ5 U8K8Y &V5$&;Q W3&; =;L5$&K5;2 &8& QK5 8 9 35;&LC ; & C TC1 W& L3=W Q3Q Q3& 8595QQ5=;L

=+ Q3& &;&K2Y L3?5;2 ; & =V&K =9& Y &X?8=5Q5;2 Q3& ?=KQ4958Q=;5; LQKU QUK& +=K LL52;5;2 ;=Q =;8Y Q3& L3?& =+ Q3& &;&K2Y +U; Q5=; =+ Q3& 8=L&$ 8==? UQ 8L= Q3& 5;Q&K =;;& Q5=; LQKU QUK& ;$ Q3& 5;3&K&;Q $5LL5?Q5=; ;$ W& L3=KQ8Y 5;QK=$U & Q3& ;Q&K =;;& Q5=; ;$ 9?5;2 LL52;9&;Q LL5V5QY

L&$ =;QK=8 @ 4A LQKQ&2Y ?K=?=L&$ 5; TTNC 5;88Y# 5; & C TC/# W& L3=W 3=W 5Q 5L ?=LL58& Q= &9&$ VK58& LQKU QUK& Q& 3;5EU&L 5;Q= &;&K2Y L3?5;2# L ?K=?=L&$ 5; >N'# >NN# T/O# 5; =K$&K Q=  35&V& ?&K+& Q K&2U8Q5=;

8L= 5; Q3& L& 5; W35 3 Q3& ?3YL5 8 ?K9&Q&KL =+ Q3& ?=KQ4958Q=;5;

?8;Q K& U;7;=W;C

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!E0B+20  "      LQ=K2& +U; Q5=; =E) B)B !2<  I !  L ! 

0 G $ [ B) !2 2G+0( <.B+20   $5LL5?Q5=; 5;&EU85QY )2.=

Trang 10

L?L E2 :8$<JE :( EE2N2JQ 0$:DQ K,

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".)<)0 >5> 3@),, <07&45 ) F+.. =B2<( 02B G+B)

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70208)<)0 >5= 3),,-8 1/9>45 !  =I=B/ += +==+4B+F G+B) <=4B B2

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!2< ) L !  0 +!  += 20B+0E2E= B)0  +B=.! +=  =B2<( !E0B+207

20F<=.I +! @LA += $0+B !2< ) L !  0 +B += 20B+0E2E= B)0 B)

=I=B/ += +==+4B+F7

Q 5L ?=LL58& Q= 25V& ; &;&K2&Q5 5;Q&K?K&QQ5=; =+ $5LL5?Q5V& LYLQ&9LC ; + Q Q3& LU??8Y KQ& K ;$ Q3& LQ=K2& +U; Q5=;  ; & Q3=U23Q L 2&;&K85Z&$

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3

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 3 K@I@H A& N@H AA'H '  @L A ' % @TCOA

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; 59?=KQ;Q 8LL =+ $5LL5?Q5V& LYLQ&9L 5L Q3Q +=K W35 3 Q3& 2&;&K85Z&$

?=W&K =5; 5$&L W5Q3 ?=W&K# 2&;&K85Z&$ &;&K2Y =5; 5$&L W5Q3 &;&K2Y ;$ Q3&

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8L= 5; Q3& L& 5; W35 Q3& ?3YL5 8 ?K9&Q&KL =+ Q3& ?=KQ4958Q=;5;

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-& amp ;- ( #& #34 ;%+( # ((/+2 #''2

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