Introductory robotics

Professor Of Biology Joseph Ayers; Joel L. Davis; Alan Rudolph

An overview of neurotechnology, the engineering of robots based on animals and animal behavior. The goal of neurotechnology is to confer the performance advantages of animal systems on robotic machines. Biomimetic robots differ from traditional robots in that they are agile, relatively cheap, and able to deal with real-world environments. The engineering of these robots requires a thorough understanding of the biological systems on which they are based, at both the biomechanical and physiological levels. This book provides an in-depth overview of the field. The areas covered include myomorphic actuators, which mimic muscle action; neuromorphic sensors, which, like animal sensors, represent sensory modalities such as light, pressure, and motion in a labeled-line code; biomimetic controllers, based on the relatively simple control systems of invertebrate animals; and the autonomous behaviors that are based on an animal's selection of behaviors from a species-specific behavioral "library." The ultimate goal is to develop a truly autonomous robot, one able to navigate and interact with its environment solely on the basis of sensory feedback without prompting from a human operator Leer más…

Pervin, Webb.

Computer vision and robotics suffer from not having good tools for manipulating three-dimensional objects. Vectors, coordinate geometry, and trigonometry all have deficiencies. Quaternions can be used to solve many of these problems. Many properties of quaternions that are relevant to computer visions and robotics are developed. Examples are given showing how quaternions can be used to simplify derivations in computer vision and robotics. This research was sponsored by the Defense Advanced Research Projects Agency (DOD), ARPA Order No. 3597, monitored by the Air Force Avionics Laboratory under Contract F33615-78-C-1551. The views and conclusions contained in this document are those of the au- authors and should not be interpreted as representing the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency or the US Government. Leer más…

Angeles, Jorge

Annotation Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in... Leer más…

Charles M. Bergren

A "head to toe" look at the theory and philosophy of all the different disciplines involved in building robots, from project management, reliability, mechanics, controls, and algorithms. This work looks under the hood of all robotic projects, stimulating teachers, students, and hobbyists to learn more about the gamut of areas associated with control systems and robotics. It offers a unique presentation in providing both theory and philosophy in a technical yet entertaining way Leer más…

John J. Craig

This introduces the science and engineering of mechanical manipulation. New material on CAD-CAM and Controls include: Manipulator Mechanism Design, Linear Control of Manipulators, and Off-Line Programming Systems. A thorough treatment of the fundamental skills underlying the use and control of manipulators. Leer más…

Herman H.

The goal of our research is to develop an autonomous robot for subsurface mapping. We are motivated by the growing need for mapping buried pipes, hazardous waste, landmines and other buried objects. Most of these are large scale mapping problems, and to manually construct subsurface maps in these cases would require a significant amount of resources. Therefore, automating the subsurface mapping process is an important factor in alleviating these problems.To achieve our goal, we have developed a robotic system that can autonomously gatherand process Ground Penetrating Radar (GPR) data. The system uses a scanning laser rangefinder to construct an elevation map of an area. By using the elevation map, a robotic manipulator can follow the contour of the terrain when it moves the GPR antenna during the scanning process. The collected data are then processed to detect and locate buried objects. We have developed three new processing methods, two are volume based processing methods and one is a surface based processing method. In volume based processing, the 3-D data are directly processed to find the buried objects, while in surface based processing, the 3-D data are first reduced to a series of 2.5-D surfaces before further processing. Each of these methods can be made very fast using parallel processing techniques, but they require an accurate propagation velocity of the GPR signal in the soil. On the other hand, the surface based processing method uses 3-D segmentation to... Leer más…

Leondes C.

In the competitive business arena companies must continually strive to create new and better products faster, more efficiently, and more cost effectively than their competitors to gain and keep the competitive advantage. Computer-aided design (CAD), computer-aided engineering (CAE), and computer-aided manufacturing (CAM) are now the industry standard. These seven volumes give the reader a comprehensive treatment of the techniques and applications of CAD, CAE, and CAM. Leer más…

Jiming Liu; Jianbing Wu; Lakhmi C. Jain

Providing a guided tour of the pioneering work and major technical issues, Multiagent Robotic Systems addresses learning and adaptation in decentralized autonomous robots. Its systematic examination demonstrates the interrelationships between the autonomy of individual robots and the emerged global behavior properties of a group performing a cooperative task. The author also includes descriptions of the essential building blocks of the architecture of autonomous mobile robots with respect to their requirement on local behavioral conditioning and group behavioral evolution.After reading this book you will be able to fully appreciate the strengths and usefulness of various approaches in the development and application of multiagent robotic systems. It covers:oWhy and how to develop and experimentally test the computational mechanisms for learning and evolving sensory-motor control behaviors in autonomous robotsoHow to design and develop evolutionary algorithm-based group behavioral learning mechanisms for the optimal emergence of group behaviorsoHow to enable group robots to converge to a finite number of desirable task states through group learningoWhat are the effects of the local learning mechanisms on the emergent global behaviorsoHow to use decentralized, self-organizing autonomous robots to perform cooperative tasks in an unknown environmentEarlier works have focused primarily on how to navigate in a spatially unknown environment, given certain predefined motion... Leer más…

Pete Miles, Tom Carroll, Cassidy Wright

create Your Own Powerful Battling Robot From Start To Finish Using This Easy-to-follow Manual. Robotics Experts Pete Miles And Tom Carroll Explain The Science And Technology Behind Robots, And Show You What Materials You Need To Build And Program A Robot For Home, School, And Competition. Leer más…

Selig, J. M.

One of the main purposes of this book is to present the kinematics of robots in a simple and clear manner. This involves using one co-ordinate frame and then using active rather than passive transformations to describe the positions of rigid bodies. The text contains exercises. Leer más…

Lewin Edwards Lewin Edwards Is An Embedded Engineer With Over 15 Years Experience Designing Embedded Systems Hardware Firmware And Control Software.

In this practical reference, popular author Lewin Edwards shows how to develop robust, dependable real-time systems for robotics and other control applications, using open-source tools. It demonstrates efficient and low-cost embedded hardware and software design techniques, based on Linux as the development platform and operating system and the Atmel AVR as the primary microcontroller. The book provides comprehensive examples of sensor, actuator and control applications and circuits, along with source code for a number of projects. It walks the reader through the process of setting up the Linux-based controller, from creating a custom kernel to customizing the BIOS, to implementing graphical control interfaces. Including detailed design information on: · ESBUS PC-host interface · Host-module communications protocol · A speed-controlled DC motor with tach feedback and thermal cut-off · A stepper motor controller · A two-axis attitude sensor using a MEMS accelerometer · Infrared remote control in Linux using LIRC · Machine vision using Video4Linux The Accompanying CD-ROM contains a wealth of design materials, including: · Full schematics and source code for the projects described · Ready-made disk images for the miniature Linux distribution uses as the basis for the PC-side software · Distribution archives of source code for all GNU software used, along with application-specific patches where appropriate · A free version of the schematic capture and PCB CAD software used ·... Leer más…

Aleksandar Lazinica

The range of potential applications for mobile robots is enormous. It includes agricultural robotics applications, routine material transport in factories, warehouses, office buildings and hospitals, indoor and outdoor security patrols, inventory verification, hazardous material handling, hazardous site cleanup, underwater applications, and numerous military applications. This book is the result of inspirations and contributions from many researchers worldwide. It presents a collection of wide range research results of robotics scientific community. Various aspects of current research in new robotics research areas and disciplines are explored and discussed. It is divided in three main parts covering different research areas: Humanoid Robots, Human-Robot Interaction, and Special Applications. We hope that you will find a lot of useful information in this book, which will help you in performing your research or fire your interests to start performing research in some of the cutting edge research fields mentioned in the book. Leer más…

M Tavakoli; R V Patel; M Moallem; A Aziminejad

An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument s interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance. Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay. Leer más…

Pascal Morin, Claude Samson (Auth.), Professor Dr.-Ing. Habil. Krzysztof Kozłowski (Eds.)

__Robot Motion and Control__ presents very recent results in robot motion and control. Twenty papers have been chosen and expanded from fifty-three presented at the Fourth International Workshop on Robot Motion and Control held in Poland in June 2004. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: - Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. - New control algorithms for industrial robots, nonholonomic systems and legged robots. - Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields. Leer más…

George Bekey; Robert Ambrose; Vijay Kumar; David Lavery; Arthur Sanderson; Brian Wilcox; Junku Yuh; Yuan Zheng

This book presents the results of an assessment of the state of robotics in Japan, South Korea, Western Europe and Australia and a comparison of robotics R&D programs in these countries with those in the United States. The comparisons include areas like robotic vehicles, space robotics, service robots, humanoid robots, networked robots, and robots for biological and medical applications, and based on criteria such as quality, scope, funding and commercialization. This important study identifies a number of areas where the traditional lead of the United States is being overtaken by developments in other countries. Contents: Robotic Vehicles; Space Robotics; Humanoids; Industrial, Personal, and Service Robots; Robotics for Biological and Medical Applications; Networked Robots. Leer más…

M.o.tokhi, A.k.m. Azad, M. O. Tokhi, A. K. M. Azad

This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques; a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and software environments for analysis, design, simulation and control of flexible manipulators. Leer más…

Edited By Oliver Brock, Jeff Trinkle, And Fabio Ramos

State-of-the-art robotics research on such topics as manipulation, motion planning, micro-robotics, distributed systems, autonomous navigation, and mapping.Robotics: Science and Systems IV spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the fourth annual Robotics: Science and Systems conference, held in 2008 at the Swiss Federal Institute of Technology in Zurich. The papers presented cover a range of topics, including computer vision, mapping, terrain identification, distributed systems, localization, manipulation, collision avoidance, multibody dynamics, obstacle detection, microrobotic systems, pursuit-evasion, grasping and manipulation, tracking, spatial kinematics, machine learning, and sensor networks as well as such applications as autonomous driving and design of manipulators for use in functional-MRI. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented. Leer más…

David R. Shircliff

This volume focuses entirely on building the inexpensive, remote-controlled robot, The "Questor". The book is illustrated with step-by-step, detailed photographs of each stage of the assembly process. No advanced electronic or programming skills are required, making the book suitable for first-time experimenters. The emphasis is on the techniques needed to build the robot, rather than on the theory of robot design.; Easy-to-read wiring diagrams are included, with beginners in mind, and the book also features a complete parts list, including tips on where to find inexpensive parts and components. Read more... Abstract: This volume focuses entirely on building the inexpensive, remote-controlled robot, The "Questor". The book is illustrated with step-by-step, detailed photographs of each stage of the assembly process. No advanced electronic or programming skills are required, making the book suitable for first-time experimenters. The emphasis is on the techniques needed to build the robot, rather than on the theory of robot design.; Easy-to-read wiring diagrams are included, with beginners in mind, and the book also features a complete parts list, including tips on where to find inexpensive parts and components Leer más…