PAID New York NY 10013 Springer Handbook of Robotics

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springer com Springer Handbook of Robotics,Springer Handbook of Robotics. B Siciliano Universit degli Studi di Napoli robotics The handbook is an ideal resource. Federico II Naples Italy O Khatib Stanford for robotics experts but also for people new to. University Stanford CA USA Eds this expanding field such as engineers medical. doctors computer scientists designers edited, Robotics is undergoing a major transforma by two internationally renowned experts. tion in scope and dimension Starting from a, predominantly industrial focus robotics has 7 Research and application oriented hand. been rapidly expanding into the challenges book covering one of the hottest topics in. of unstructured environments The Springer science and technology. Handbook of Robotics incorporates these 7 A timely and up to date reference edited by. new developments and therefore basically two internationally renowned experts. differs from other handbooks of robotics 7 Surveys developments and applications of. focusing on industrial applications It presents robotics in industrial settings and beyond. a widespread and well structured coverage 7 Ideal for experts as well as people new to. from the foundations of robotics through the this growing field computer scientists. consolidated methodologies and technologies medical doctors and engineers. up to the new emerging application areas of,Visit springer com for detailed table of content. 2008 Print 2008 eReference 2008 Print eReference, LX 1611 p 1375 illus ISBN 978 3 540 30301 5 ISBN 978 3 540 38219 5.
422 in color With DVD with 7 199 00 7 249 00,full content Hardcover. ISBN 978 3 540 23957 4,About the Editors, Bruno Siciliano is Professor of Control and President for Technical Activities and Vice. Robotics in the Faculty of Engineering of the President for Publications as an AdCom. University of Naples Director of the PRISMA Lab member as a Distinguished Lecturer and as. in the Department of Computer and Systems of 2008 the Society President Prof Siciliano. Engineering He is a Fellow of both IEEE and has co authored 210 journal and conference. ASME and on the Board of the European papers 7 books on robotics and edits the. Robotics Research Network He has served the Springer Tracts in Advanced Robotics STAR. IEEE Robotics and Automation Society as Vice series. Oussama Khatib is Professor at Stanford Society and a recipient of the JARA Japan. University President of IFRR the International Robot Association Award in Research and. Foundation of Robotics Research Distinguished Development. Lecturer of the IEEE Robotics and Automation,Springer Handbook of Robotics springer com. Part Editors, David Orin Part A Robotics Foundations Raja Chatila Part E Mobile and Distributed. Frank Chongwoo Park Part B Robot Structures Robotics. Henrik I Christensen Part C Sensing and Alexander Zelinsky Part F Field and Service. Perception Robotics, Makoto Kaneko Part D Manipulation and Daniela Rus Part G Human Centered and.
Interfaces Life Like Robotics,Table of Contents, Introduction to Robotics Bruno Chap 16 Legged Robots Shuuji Kajita Chap 31 Telerobotics G nter Niemeyer. Siciliano Oussama Khatib Bernard Espiau Carsten Preusche Gerd Hirzinger. Part A Robotics Foundations Chap 17 Wheeled Robots Guy Campion Chap 32 Networked Teleoperation. David Orin Woojin Chung Dezhen Song Kenneth Goldberg. Chap 1 Kinematics Ken Waldron Chap 18 Micro Nano Robots Nak Young Chong. James Schmiedeler Brad Nelson Lixin Dong Fumihito Arai Chap 33 Exoskeletons for Human Perfor. Chap 2 Dynamics Roy Featherstone mance Augmentation Hami Kazerooni. David Orin Part C Sensing and Perception, Chap 3 Mechanisms and Actuation Henrik Christensen Part E Mobile and Distributed Robotics. Victor Scheinman Michael McCarthy Chap 19 Force and Tactile Sensors Raja Chatila. Chap 4 Sensing and Estimation Mark Cutkosky Robert Howe Chap 34 Motion Control of Wheeled. Henrik Christensen Gregory Hager William Provancher Mobile Robots Pascal Morin. Chap 5 Motion Planning Lydia Kavraki Chap 20 Inertial Sensors GPS and Odom Claude Samson. Steve LaValle etry Gregory Dudek Michael Jenkin Chap 35 Motion Planning and Obstacle. Chap 6 Motion Control Wankyun Chung Chap 21 Sonar Sensing Lindsay Avoidance Javier Minguez. Li Chen Fu Su Hau Hsu Kleeman Roman Kuc Florent Lamiraux Jean Paul Laumond. Chap 7 Force Control Luigi Villani Chap 22 Range Sensors Robert Fisher Chap 36 World Modeling. Joris De Schutter Kurt Konolige Wolfram Burgard Martial Hebert. Chap 8 Robotic Systems Architectures Chap 23 3D Vision and Recognition Chap 37 Simultaneous Localization and. and Programming David Kortenkamp Kostas Daniliidis Jan Olof Eklundh Mapping Sebastian Thrun John Leonard. Reid Simmons Chap 24 Visual Servoing and Visual Chap 38 Behavior Based Systems. Chap 9 AI Reasoning Methods for Tracking Fran ois Chaumette Maja Mataric Fran ois Michaud. Robotics Joachim Hertzberg Raja Chatila Seth Hutchinson Chap 39 Distributed and Cellular Robots. Chap 25 Sensor Fusion Zack Butler Alfred Rizzi, Part B Robot Structures Frank Park Hugh Durrant Whyte Tom Henderson Chap 40 Multiple Mobile Robot Systems. Chap 10 Performance Evaluation and Lynne Parker, Design Criteria Jorge Angeles Frank Park Part D Manipulation and Interfaces Chap 41 Networked Robots Vijay Kumar. Chap 11 Redundant Manipulators Makoto Kaneko Daniela Rus Gaurav Sukhatme. Stefano Chiaverini Giuseppe Oriolo Chap 26 Motion for Manipulation Tasks. Ian Walker Oliver Brock James Kuffner Jing Xiao Part F Field and Service Robotics. Chap 12 Parallel Mechanisms and Robots Chap 27 Modelling and Manipulation Alexander Zelinsky. Jean Pierre Merlet Cl ment Gosselin Imin Kao Kevin Lynch Joel Burdick Chap 42 Industrial Robotics Martin. Chap 13 Robots with Flexible Elements Chap 28 Grasping Jeff Trinkle H gele Klas Nilsson Norberto Pires. Alessandro De Luca Wayne Book Domenico Prattichizzo Chap 43 Underwater Robotics Gianluca. Chap 14 Model Identification Chap 29 Cooperative Manipulators Antonelli Thor Inge Fossen Dana Yoerger. John Hollerbach Wisama Khalil Fabrizio Caccavale Masaru Uchiyama Chap 44 Aerial Robotics Eric Feron. Maxime Gautier Chap 30 Haptics Blake Hannaford Eric Johnson. Chap 15 Robot Hands Allison Okamura Chap 45 Space Robots and Systems. Claudio Melchiorri Makoto Kaneko Kazuya Yoshida Brian Wilcox. no printing,Springer Handbook of Robotics springer com.
no printing, Chap 46 Robotics in Agriculture and Chap 52 Medical Robots and Systems Chap 58 Social Robots that Interact. Forestry John Billingsley Arto Visala Russell Taylor Arianna Menciassi with People Cynthia Breazeal. Mark Dunn Gabor Fichtinger Paolo Dario Atsuo Takanishi Tetsunori Kobayashi. Chap 47 Robotics in Construction Chap 53 Rehabilitation and Health Care Chap 59 Robot Programming by. no printing, Kamel Saidi Jonathan O Brien Robotics Machiel van der Loos Demonstration Aude Billard. Alan Lytle David J Reinkensmeyer Sylvain Calinon Ruediger Dillmann. Chap 48 Robotics in Hazardous Chap 54 Domestic Robots Stefan Schaal. Applications James Trevelyan Erwin Prassler Kazuhiro Kosuge Chap 60 Biologically Inspired Robots. no printing, Sungchul Kang William Hamel Chap 55 Robots for Education Jean Arcady Meyer Agn s Guillot. Chap 49 Mining Robotics Peter Corke David Miller Illah Nourbakhsh Chap 61 Evolutionary Robotics Dario. Jonathan Roberts Jock Cunningham Roland Siegwart Floreano Phil Husbands Stefano Nolfi. no printing, David Hainsworth Chap 62 Neurorobotics From Vision to. Chap 50 Search and Rescue Robotics Part G Human Centered and Life Like Action Michael Arbib Giorgio Metta. Robin Murphy Satoshi Tadokoro Robotics Daniela Rus Patrick van der Smagt. Daniele Nardi Adam Jacoff Paolo Fiorini Chap 56 Humanoids Charles Kemp Chap 63 Perceptual Robotics. no printing, Howie Choset Aydan Erkmen Paul Fitzpatrick Hirohisa Hirukawa Heinrich B lthoff Christian Wallraven.
Chap 51 Intelligent Vehicles Kazuhito Yokoi Kensuke Harada Martin Giese. Alberto Broggi Alexander Zelinsky Yoshio Matsumoto Chap 64 Roboethics Social and Ethical. Michel Parent Charles Thorpe Chap 57 Safety for Physical Human Implications Gianmarco Veruggio. no printing,Robot Interaction Antonio Bicchi Fiorella Operto. Michael Peshkin Edward Colgate,no printing,Kinematics. 1 Kinematics,no printing,Ken Waldron Jim Schmiedeler. 1 1 Overview 1,Kinematics pertains to the motion of bod. no printing, ies in a robotic mechanism without regard 1 2 Position and Orientation Representation 2.
1 2 1 Position and Displacement 2 1,to the forces torques that cause the motion. Since robotic mechanisms are by their very 1 2 2 Orientation and Rotation 2. Multisensor D, essence designed for motion kinematics is 1 2 3 Homogeneous Transformations 5. the most fundamental aspect of robot de 1 2 4 Screw Transformations 6. 25 Multisensor Data Fusion,1 2 5 Matrix Exponential. sign analysis control and simulation The,Parameterization 8. robotics community has focused on efficiently,1 2 6 Pl cker Coordinates 10.
applying different representations of position, and orientation and their derivatives with re 1 3 Joint Kinematics 10. spect to time to solve foundational kinematics 1 3 1 Lower Pair Joints 11. 1 3 2 Higher Pair Joints 13,no printing,problems 25 1 Multisensor Data Fusion Methods 1. 1 3 3 Compound Joints 14 Multisensor data fusion is the process of com. This chapter will present the most useful 25 1 1 Bayes Rule 2. 1 3 4 6 DOF Joint 14 bining observations from a number of different. representations of the position and orienta 25 1 2 Probabilistic Grids 5. 1 3 5 Physical Realization 14 sensors to provide a robust and complete de. tion of a body in space the kinematics of 25 1 3 The Kalman Filter 6. 1 3 6 Holonomic scription of an environment or process of 25 1 4 Sequential Monte Carlo Methods 10. the joints most commonly found in robotic and Nonholonomic Constraints 15 interest Data fusion nds wide application 25 1 5 Alternatives to Probability 12. mechanisms and a convenient convention for 1 3 7 Generalized Coordinates 15 in many areas of robotics such as object. representing the geometry of robotic mech 25 2 Multisensor Fusion Architectures 14. 1 4 Geometric Representation 15 recognition environment mapping and locali. anisms These representational tools will be 25 2 1 Architectural Taxonomy 14. 1 5 Workspace 17 sation, applied to compute the workspace the for 25 2 2 Centralized Local Interaction. This chapter has three parts methods ar, ward and inverse kinematics the forward 1 6 Forward Kinematics 18 and Hierarchical 16. chitectures and applications Most current data,no printing.
and inverse instantaneous kinematics and 1 7 Inverse Kinematics 19 25 2 3 Decentralized Global Interaction. fusion methods employ probabilistic descriptions, the static wrench transmission of a robotic 1 7 1 Closed Form Solutions 19 and Heterarchical 16. of observations and processes and use Bayes rule, mechanism For brevity the focus will be on 1 7 2 Numerical Methods 20 25 2 4 Decentralized Local Interaction. algorithms applicable to open chain mecha, to combine this information This chapter sur and Hierarchical 17. 1 8 Forward Instantaneous Kinematics 21 veys the main probabilistic modeling and fusion. nisms 25 2 5 Decentralized Local Interaction, 1 8 1 Jacobian 21 techniques including grid based models Kalman. The goal of this chapter is to provide the and Heterarchical 18. reader with general tools in tabulated form 1 9 Inverse Instantaneous Kinematics 22 ltering and sequential Monte Carlo techniques. 1 9 1 Inverse Jacobian 22 This chapter also brie y reviews a number of 25 3 Applications 19. and a broader overview of algorithms that 25 3 1 Dynamic System Control 19. can be applied together to solve kinemat 1 10 Static Wrench Transmission 22 non probabilistic data fusion methods Data fu. sion systems are often complex combinations of 25 3 2 ANSER II Decentralised Data Fusion 20. ics problems pertaining to a particular robotic 1 11 Conclusions and Further Reading 23 no printing. mechanism sensor devices processing and fusion algorithms 25 4 Conclusions and Further Reading 23. References 23 This chapter provides an overview of key principles. References 24,in data fusion architectures from both a hardware.
and algorithmic viewpoint The applications of, data fusion are pervasive in robotics and underly application in mapping and environment model. 1 1 Overview the core problem of sensing estimation and per ing. ception We highlight two example applications The essential algorithmic tools of data fusion. Unless explicitly stated otherwise robotic mecha fore robot kinematics describes the pose velocity. that bring out these features The rst describes are reasonably well established However the. nisms are systems of rigid bodies connected by acceleration and all higher order derivatives of the. a navigation or self tracking application for an development and use of these tools in realistic. joints The position and orientation of a rigid body pose of the bodies that comprise a mechanism Since. autonomous vehicle The second describes an robotics applications is still developing. no printing, in space are collectively termed the pose There kinematics does not address the forces torques that. 25 1 Multisensor Data Fusion Methods, The most widely used data fusion methods employed In this section we review the main data fusion meth. in robotics originate in the elds of statistics esti ods empl. Bruno Siciliano is Professor of Control and Robotics in the Faculty of Engineering of the University of Naples Director of the PRISMA Lab in the Department of Computer and Systems Engineering He is a Fellow of both IEEE and ASME and on the Board of the European Robotics Research Network He has served the IEEE Robotics and Automation Society as Vice President for Technical Activities and

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