Download or read book Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

Download or read book Introduction to Autonomous Robots written by Nikolaus Correll and published by . This book was released on 2016-04-25 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.

Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Download or read book Autonomous Robots written by George A. Bekey and published by MIT Press. This book was released on 2005-05-20 with total page 595 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the science and practice of autonomous robots that reviews over 300 current systems and examines the underlying technology. Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner. In this book, George Bekey offers an introduction to the science and practice of autonomous robots that can be used both in the classroom and as a reference for industry professionals. He surveys the hardware implementations of more than 300 current systems, reviews some of their application areas, and examines the underlying technology, including control, architectures, learning, manipulation, grasping, navigation, and mapping. Living systems can be considered the prototypes of autonomous systems, and Bekey explores the biological inspiration that forms the basis of many recent developments in robotics. He also discusses robot control issues and the design of control architectures. After an overview of the field that introduces some of its fundamental concepts, the book presents background material on hardware, control (from both biological and engineering perspectives), software architecture, and robot intelligence. It then examines a broad range of implementations and applications, including locomotion (wheeled, legged, flying, swimming, and crawling robots), manipulation (both arms and hands), localization, navigation, and mapping. The many case studies and specific applications include robots built for research, industry, and the military, among them underwater robotic vehicles, walking machines with four, six, and eight legs, and the famous humanoid robots Cog, Kismet, ASIMO, and QRIO. The book concludes with reflections on the future of robotics—the potential benefits as well as the possible dangers that may arise from large numbers of increasingly intelligent and autonomous robots.

Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.

Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-04-12 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Download or read book Developmental Robotics written by Angelo Cangelosi and published by MIT Press. This book was released on 2015-01-09 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive overview of an interdisciplinary approach to robotics that takes direct inspiration from the developmental and learning phenomena observed in children's cognitive development. Developmental robotics is a collaborative and interdisciplinary approach to robotics that is directly inspired by the developmental principles and mechanisms observed in children's cognitive development. It builds on the idea that the robot, using a set of intrinsic developmental principles regulating the real-time interaction of its body, brain, and environment, can autonomously acquire an increasingly complex set of sensorimotor and mental capabilities. This volume, drawing on insights from psychology, computer science, linguistics, neuroscience, and robotics, offers the first comprehensive overview of a rapidly growing field. After providing some essential background information on robotics and developmental psychology, the book looks in detail at how developmental robotics models and experiments have attempted to realize a range of behavioral and cognitive capabilities. The examples in these chapters were chosen because of their direct correspondence with specific issues in child psychology research; each chapter begins with a concise and accessible overview of relevant empirical and theoretical findings in developmental psychology. The chapters cover intrinsic motivation and curiosity; motor development, examining both manipulation and locomotion; perceptual development, including face recognition and perception of space; social learning, emphasizing such phenomena as joint attention and cooperation; language, from phonetic babbling to syntactic processing; and abstract knowledge, including models of number learning and reasoning strategies. Boxed text offers technical and methodological details for both psychology and robotics experiments.

Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

Download or read book Contemporary Planetary Robotics written by Yang Gao and published by John Wiley & Sons. This book was released on 2016-06-03 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: For readers from both academia and industry wishing to pursue their studies and /or careers in planetary robotics, this book represents a one-stop tour of the history, evolution, key systems, and technologies of this emerging field. The book provides a comprehensive introduction to the key techniques and technologies that help to achieve autonomous space systems for cost-effective, high performing planetary robotic missions. Main topics covered include robotic vision, surface navigation, manipulation, mission operations and autonomy, being explained in both theoretical principles and practical use cases. The book recognizes the importance of system design hence discusses practices and tools that help take mission concepts to baseline design solutions, making it a practical piece of scientific reference suited to a variety of practitioners in planetary robotics.

Download or read book Fundamentals of Mechanics of Robotic Manipulation written by Marco Ceccarelli and published by Springer Nature. This book was released on 2022-03-30 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.

Download or read book Visual Perception and Robotic Manipulation written by Geoffrey Taylor and published by Springer. This book was released on 2014-09-24 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.

Download or read book Remote Manipulation Systems written by L.I. Slutski and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: A famous French writer, Anatole France, liked to say, "The future is a convenient place to position our dreams" (1927). Indeed, this remark gains full meaning when one considers the history of what we call today "Robotics." For more than 3000 years, mankind has dreamt ofthe possibility of arti ficial machines that would have all the advantages of human slaves without any of their drawbacks. With the developments in technology since the end of World War II, mainly with the explosive progress of computers, it was thought we might at last succeed in transforming this everlasting dream into reality. In the mind of scientists of the 1950's, to make such intelligent and autonomous machines before the year 2000 seemed a small challenge: it was obvious, thanks to computers and Artificial Intelligence. But, in spite of progress in some directions, we must admit that the dream remains a dream and that the basic problems denying us a successful issue are not solved. In fact, if we except industrial robots, only calling for classical automata theory, the main advanced result concerning autonomous and intelligent machines is related to some understanding of reasons why we have failed during the past years.

Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.