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1、SpringerTractsinAdvancedRoboticsVolume43Editors:BrunoSiciliano·OussamaKhatib·FransGroenPierreLamon3D-PositionTrackingandControlforAll-TerrainRobotsABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitàdiNapoliFedericoII,ViaClaudio21,80125Napoli,Italy,E-
2、mail:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNet
3、herlands,E-mail:groen@science.uva.nlAuthorDr.PierreLamonBlueBoticsS.A.PSE-CCH-1015LausanneSwitzerlandEmail:pierre.lamon@bluebotics.comISBN978-3-540-78286-5e-ISBN978-3-540-78287-2DOI10.1007/978-3-540-78287-2SpringerTractsinAdvancedRoboticsISSN1610-7438LibraryofCongressControl
4、Number:2008921245c2008Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherw
5、ay,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Th
6、euseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.TypesettingbytheauthorsandScientificPublishingServices
7、Pvt.Ltd.Printedinacid-freepaper543210springer.comEditorialAdvisoryBoardHermanBruyninckx,KULeuven,BelgiumRajaChatila,LAAS,FranceHenrikChristensen,GeorgiaInstituteofTechnology,USAPeterCorke,CSIRO,AustraliaPaoloDario,ScuolaSuperioreSantAnnaPisa,ItalyRüdigerDillmann,UniversitätK
8、arlsruhe,GermanyKenGoldberg,UCBerkeley,USAJohnHollerbach,UniversityofUtah,U
