In this three-year U.S.-Yugoslav cooperative research project in robotics between Miomir Vukobratovic of the Pupin Institute in Belgrade, the University of Novi Sad robotics research group, and Masayoshi Tomizuka at the University of California at Berkeley, investigators will study decentralized, non-adaptive control of robotic manipulators. Software packages will be developed and implemented for performance evaluation of robots, adapative and non adaptive control, cooperating robots (two robots working together) and new robotic control mechanisms. The problems addressed are current and of industrial importance. This proposal provides for unique experimentation with actual robots in addition to computer simulations. The grant links a pioneering Yugoslav research group in robotics to U.S. experts in adaptive controls and dynamics. This project was approved by the U.S.-Yugoslav Joint Board on Cooperation in Science and Technology and is supported through a joint fund consisting of matching contributions from the governments of the United States and Yugoslavia. The U.S. contribution is provided annually by the Department of State. No NSF funds are involved. Grants are made to the principal scientific institution in Yugoslavia, but include dollar funds for U.S. scientist travel to Yugoslavia and for Yugoslav scientists' living expenses in the U.S.
