Bøger i Springer Tracts in Advanced Robotics serien

This text expands the author's doctoral dissertation, focusing on two issues: joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity.

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

The bipedal robot Lucy boasts breakthrough technology, using pleated pneumatic artificial muscles instead of the customary electrical drives. This book gives a complete description of Lucy's hardware, electronics and software and reports latest developments.

Technological advances have vastly increased the potential applications of robots, which now feature much more interaction with humans. This book is an overview of robotic exoskeletons and includes details of an upper-limb exoskeleton for tremor suppression.

This monograph deals with energy based control of interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.

This book focuses on two issues related to human figures: realtime dynamics computation and interactive motion generation.

This book presents the framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. It details novel grasp-task sensor-based control methods using vision, tactile and force feedback.

This book addresses spatial representations and reasoning techniques for mobile robot mapping, providing an analysis of fundamental representations and processes involved. The book includes an extensive discussion of the literature.

This book presents mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers. Numerous examples and illustrations are used to make the mathematics accessible to those with engineering backgrounds.

Focusing on robotic manipulation control systems, this volume explores a mechanical system, equipped with one or more sensors delivering digital and/or analog sensor signals. A new concept is introduced, with many comprehensive examples.

This monograph presents new developments and advances of deformable robots made of electroactive polymer (EAP) gel, a promising new material for artificial muscles. Future direction of gel robots are also presented such as polymer robots and muscle suits.

Service robots often work in indoor environments divided into rooms, corridors and doorways. This book presents several approaches to enable a mobile robot to categorize places indoors. Many approaches come from areas of pattern recognition and classification.

This is the most complete book on virtual decomposition control. This approach uses subsystem dynamics to conduct control design, while guaranteeing the stability and convergence of the entire robot without compromising the rigorousness of the system analysis.

This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators.

This book presents the latest research on a robotic camera simultaneously controlled by multiple online users. It offers solutions for application and technology problems and demonstrates the vast market potential of Internet-based infrastructures.

This focused monograph builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. It covers the definition and development of new nonholonomic machines designed on the basis of nonlinear control theory for nonholonomic mechanical systems.

"Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy.

This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM.

This book examines simultaneous localization and mapping (SLAM) for autonomous robots. Solutions include uncertainty-driven exploration, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments.

This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.

Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks.

This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation;

This monograph has arisen from the multidisciplinary research extending over biology, robotics and hybrid systems theory. It is inspired by modeling reactive behavior of the immune system cell population, where each cell is considered an independent agent.

This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices.

Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

Robot interaction control is one of the most challenging targets for industrial robotics. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance.

This monograph is a comprehensive introduction to the field of soccer robotics. The focus of this monograph is the FIRA framework of Soccer Robotics, in particular MiroSot, which uses a central overhead camera to overview the whole soccer field and a central control of the robots.

This book addresses the most challenging steps in creating large-area image mosaics: global alignment and fast estimation of topology. Thus it advances the state of the art in underwater surveys using low-cost vehicles equipped with very limited sensor arrays.

The material covered here is at the frontiers of robot technology, inspired by the complex movement of animals. It includes Passive Dynamic Autonomous Control (PDAC), robot motion control, multi-legged walking and climbing as well as brachiation.

This book presents the main achievements of the EuRoC (European Robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Programme.