Springer handbook of robotics
The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with h...
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|---|---|
| Format | eBook Book |
| Language | English |
| Published |
Cham
Springer
2016
Springer International Publishing AG Springer International Publishing |
| Edition | 2 |
| Series | Springer Handbooks |
| Subjects | |
| Online Access | Get full text |
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| Abstract | The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization's Award for Engineering & Technology.
The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook's team.
A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. |
|---|---|
| AbstractList | The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization's Award for Engineering & Technology.
The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook's team.
A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. |
| Author | Khatib, Oussama Siciliano, Bruno |
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| Copyright | Springer International Publishing Switzerland 2016 |
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| DOI | 10.1007/978-3-319-32552-1 |
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| EISBN | 3319325523 9783319325521 |
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| Edition | 2 2nd Edition 2nd ed. 2017. |
| Editor | Khatib, Oussama Siciliano, Bruno |
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| ISSN | 2522-8692 |
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| Notes | with 1375 figures and 109 tables Includes bibliographical references and index |
| OCLC | 956277598 954461883 1163550437 |
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| Snippet | The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the... |
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| SubjectTerms | Artificial Intelligence Computational Intelligence Control, Robotics, Mechatronics Engineering Engineering Design Manufacturing, Machines, Tools, Processes Robotics -- Handbooks, manuals, etc |
| TableOfContents | 7.3 Sampling-Based Planning -- 7.4 Alternative Approaches -- 7.5 Differential Constraints -- 7.6 Extensions and Variations -- 7.7 Advanced Issues -- 7.8 Conclusions and Further Reading -- Video-References -- References -- 8 Motion Control -- 8.1 Introduction to Motion Control -- 8.2 Joint Space Versus Operational Space Control -- 8.3 Independent-Joint Control -- 8.4 PID Control -- 8.5 Tracking Control -- 8.6 Computed-Torque Control -- 8.7 Adaptive Control -- 8.8 Optimal and Robust Control -- 8.9 Trajectory Generation and Planning -- 8.10 Digital Implementation -- 8.11 Learning Control -- Video-References -- References -- 9 Force Control -- 9.1 Background -- 9.2 Indirect Force Control -- 9.3 Interaction Tasks -- 9.4 Hybrid Force/Motion Control -- 9.5 Conclusionsand Further Reading -- Video-References -- References -- 10 Redundant Robots -- 10.1 Overview -- 10.2 Task-Oriented Kinematics -- 10.3 Inverse Differential Kinematics -- 10.4 Redundancy Resolution via Optimization -- 10.5 Redundancy Resolution via Task Augmentation -- 10.6 Second-Order Redundancy Resolution -- 10.7 Cyclicity -- 10.8 Fault Tolerance -- 10.9 Conclusion and Further Reading -- Video-References -- References -- 11 Robots with Flexible Elements -- 11.1 Robots with Flexible Joints -- 11.2 Robots with Flexible Links -- Video-References -- References -- 12 Robotic Systems Architectures and Programming -- 12.1 Overview -- 12.2 History -- 12.3 Architectural Components -- 12.4 Case Study - GRACE -- 12.5 The Art of Robot Architectures -- 12.6 Implementing Robotic Systems Architectures -- 12.7 Conclusions and Further Reading -- Video-References -- References -- 13 Behavior-Based Systems -- 13.1 Robot Control Approaches -- 13.2 Basic Principles of Behavior-Based Systems -- 13.3 Basis Behaviors -- 13.4 Representation in Behavior-Based Systems -- 13.5 Learning in Behavior-Based Systems 20.4 Modeling of Locomotion for Snake-Like and Continuum Mechanisms -- 20.5 Conclusion and Extensions to Related Areas -- Video-References -- References -- 21 Actuators for Soft Robotics -- 21.1 Background -- 21.2 Soft Robot Design -- 21.3 Modeling Actuatorsfor Soft Robotics -- 21.4 Modeling Soft Robots -- 21.5 Stiffness Estimation -- 21.6 Cartesian Stiffness Control -- 21.7 Periodic Motion Control -- 21.8 Optimal Control of Soft Robots -- 21.9 Conclusions and Open Problems -- Video-References -- References -- 22 Modular Robots -- 22.1 Concepts and Definitions -- 22.2 ReconfigurableModular Manipulators -- 22.3 Self-ReconfigurableModular Robots -- 22.4 Conclusion and Further Reading -- Video-References -- References -- 23 Biomimetic Robots -- 23.1 Overview -- 23.2 Components of Biomimetic Robot Design -- 23.3 Mechanisms -- 23.4 Material and Fabrication -- 23.5 Conclusion -- Video-References -- References -- 24 Wheeled Robots -- 24.1 Overview -- 24.2 Mobility of Wheeled Robots -- 24.3 Wheeled Robot Structures -- 24.4 Wheel-Terrain Interaction Models -- 24.5 Wheeled Robot Suspensions -- 24.6 Conclusions -- Video-References -- References -- 25 Underwater Robots -- 25.1 Background -- 25.2 Mechanical Systems -- 25.3 Power Systems -- 25.4 Underwater Actuators and Sensors -- 25.5 Computers, Communications, and Architecture -- 25.6 Underwater Manipulators -- 25.7 Conclusions and Further Reading -- Video-References -- References -- 26 Flying Robots -- 26.1 Background and History -- 26.2 Characteristics of Aerial Robotics -- 26.3 Basics of Aerodynamics and Flight Mechanics -- 26.4 Airplane Modeling and Design -- 26.5 Rotorcraft Modeling and Design -- 26.6 Flapping Wing Modeling and Design -- 26.7 System Integration and Realization -- 26.8 Applications of Aerial Robots -- 26.9 Conclusions and Further Reading -- Video-References -- References 13.6 Applications and Continuing Work -- 13.7 Conclusions and Further Reading -- Video-References -- References -- 14 AI Reasoning Methods for Robotics -- 14.1 Why Should a Robot Use AI-Type Reasoning? -- 14.2 Knowledge Representation and Processing -- 14.3 Reasoning and Decision Making -- 14.4 Plan-Based Robot Control -- 14.5 Conclusions and Further Reading -- Video-References -- References -- 15 Robot Learning -- 15.1 What Is Robot Learning -- 15.2 Model Learning -- 15.3 Reinforcement Learning -- 15.4 Conclusions -- Video-References -- References -- Part B Design -- 16 Design and Performance Evaluation -- 16.1 The Robot Design Process -- 16.2 Workspace Criteria -- 16.3 Dexterity Indices -- 16.4 Other Performance Indices -- 16.5 Other Robot Types -- 16.6 Summary -- References -- 17 Limbed Systems -- 17.1 Design of Limbed Systems -- 17.2 Conceptual Design -- 17.3 Whole Design Process Example -- 17.4 Model Induced Design -- 17.5 Various Limbed Systems -- 17.6 Performance Indices -- Video-References -- References -- 18 Parallel Mechanisms -- 18.1 Definitions -- 18.2 Type Synthesisof Parallel Mechanisms -- 18.3 Kinematics -- 18.4 Velocity and Accuracy Analysis -- 18.5 Singularity Analysis -- 18.6 Workspace Analysis -- 18.7 Static Analysis -- 18.8 Dynamic Analysis -- 18.9 Design -- 18.10 Wire-Driven Parallel Robots -- 18.11 Application Examples -- 18.12 Conclusion and Further Reading -- Video-References -- References -- 19 Robot Hands -- 19.1 Basic Concepts -- 19.2 Design of Robot Hands -- 19.3 Technologies for Actuation and Sensing -- 19.4 Modeling and Control of a Robot Hand -- 19.5 Applications and Trends -- 19.6 Conclusions and Further Reading -- Video-References -- References -- 20 Snake-Like and Continuum Robots -- 20.1 Snake Robots - Short History -- 20.2 Continuum Robots - Short History -- 20.3 Snake-Like and Continuum Robot Modeling 27 Micro-/Nanorobots -- 27.1 Overview of Micro- and Nanorobotics -- 27.2 Scaling -- 27.3 Actuation at the Micro- and Nanoscales -- 27.4 Imaging at the Micro-and Nanoscales -- 27.5 Fabrication -- 27.6 Microassembly -- 27.7 Microrobotics -- 27.8 Nanorobotics -- 27.9 Conclusions -- Video-References -- References -- Part C Sensing and Perception -- 28 Force and Tactile Sensing -- 28.1 Overview -- 28.2 Sensor Types -- 28.3 Tactile Information Processing -- 28.4 Integration Challenges -- 28.5 Conclusions and Future Developments -- Video-References -- References -- 29 Inertial Sensing, GPS and Odometry -- 29.1 Odometry -- 29.2 Gyroscopic Systems -- 29.3 Accelerometers -- 29.4 IMU Packages -- 29.5 Satellite-Based Positioning (GPS and GNSS) -- 29.6 GPS-IMU Integration -- 29.7 Further Reading -- 29.8 Currently Available Hardware -- References -- 30 Sonar Sensing -- 30.1 Sonar Principles -- 30.2 Sonar Beam Pattern -- 30.3 Speed of Sound -- 30.4 Waveforms -- 30.5 Transducer Technologies -- 30.6 Reflecting Object Models -- 30.7 Artifacts -- 30.8 TOF Ranging -- 30.9 Echo Waveform Coding -- 30.10 Echo Waveform Processing -- 30.11 CTFM Sonar -- 30.12 Multipulse Sonar -- 30.13 Sonar Rings and Arrays -- 30.14 Motion Effects -- 30.15 Biomimetic Sonars -- 30.16 Conclusions -- Video-References -- References -- 31 Range Sensing -- 31.1 Range Sensing Basics -- 31.2 Sensor Technologies -- 31.3 Registration -- 31.4 Navigation and Terrain Classification and Mapping -- 31.5 Conclusions and Further Reading -- References -- 32 3-D Vision for Navigation and Grasping -- 32.1 Geometric Vision -- 32.2 3-D Vision for Grasping -- 32.3 Conclusion and Further Reading -- Video-References -- References -- 33 Visual Object Class Recognition -- 33.1 Object Classes -- 33.2 Review of the State of the Art -- 33.3 Discussion and Conclusions -- References -- 34 Visual Servoing Intro -- Foreword -- Foreword -- Foreword -- Foreword -- Preface to the Second Edition -- Preface to the Multimedia Extension -- About the Editors -- About the Part Editors -- About the Multimedia Editors -- List of Authors -- Contents -- List of Abbreviations -- 1 Robotics and the Handbook -- 1.1 A Brief History of Robotics -- 1.2 The Robotics Community -- 1.3 This Handbook -- Video-References -- Part A Robotics Foundations -- 2 Kinematics -- 2.1 Overview -- 2.2 Position and Orientation Representation -- 2.3 Joint Kinematics -- 2.4 Geometric Representation -- 2.5 Workspace -- 2.6 Forward Kinematics -- 2.7 Inverse Kinematics -- 2.8 Forward Instantaneous Kinematics -- 2.9 Inverse Instantaneous Kinematics -- 2.10 Static Wrench Transmission -- 2.11 Conclusions and Further Reading -- References -- 3 Dynamics -- 3.1 Overview -- 3.2 Spatial Vector Notation -- 3.3 Canonical Equations -- 3.4 Dynamic Models of Rigid-Body Systems -- 3.5 Kinematic Trees -- 3.6 Kinematic Loops -- 3.7 Conclusions and Further Reading -- References -- 4 Mechanism and Actuation -- 4.1 Overview -- 4.2 System Features -- 4.3 Kinematics and Kinetics -- 4.4 Serial Robots -- 4.5 Parallel Robots -- 4.6 Mechanical Structure -- 4.7 Joint Mechanisms -- 4.8 Actuators -- 4.9 Robot Performance -- 4.10 Conclusions and Further Reading -- Video-References -- References -- 5 Sensing and Estimation -- 5.1 Introduction -- 5.2 The Perception Process -- 5.3 Sensors -- 5.4 Estimation Processes -- 5.5 Representations -- 5.6 Conclusions and Further Readings -- References -- 6 Model Identification -- 6.1 Overview -- 6.2 Kinematic Calibration -- 6.3 Inertial Parameter Estimation -- 6.4 Identifiability and Numerical Conditioning -- 6.5 Conclusions and Further Reading -- Video-References -- References -- 7 Motion Planning -- 7.1 Robotics Motion Planning -- 7.2 Motion Planning Concepts 34.1 The Basic Components of Visual Servoing 7.3 Sampling-Based Planning -- 7.4 Alternative Approaches -- 7.5 Differential Constraints -- 7.6 Extensions and Variations -- 7.7 Advanced Issues -- 7.8 Conclusions and Further Reading -- Video-References -- References -- 8 Motion Control -- 8.1 Introduction to Motion Control -- 8.2 Joint Space Versus Operational Space Control -- 8.3 Independent-Joint Control -- 8.4 PID Control -- 8.5 Tracking Control -- 8.6 Computed-Torque Control -- 8.7 Adaptive Control -- 8.8 Optimal and Robust Control -- 8.9 Trajectory Generation and Planning -- 8.10 Digital Implementation -- 8.11 Learning Control -- Video-References -- References -- 9 Force Control -- 9.1 Background -- 9.2 Indirect Force Control -- 9.3 Interaction Tasks -- 9.4 Hybrid Force/Motion Control -- 9.5 Conclusions and Further Reading -- Video-References -- References -- 10 Redundant Robots -- 10.1 Overview -- 10.2 Task-Oriented Kinematics -- 10.3 Inverse Differential Kinematics -- 10.4 Redundancy Resolution via Optimization -- 10.5 Redundancy Resolution via Task Augmentation -- 10.6 Second-Order Redundancy Resolution -- 10.7 Cyclicity -- 10.8 Fault Tolerance -- 10.9 Conclusion and Further Reading -- Video-References -- References -- 11 Robots with Flexible Elements -- 11.1 Robots with Flexible Joints -- 11.2 Robots with Flexible Links -- Video-References -- References -- 12 Robotic Systems Architectures and Programming -- 12.1 Overview -- 12.2 History -- 12.3 Architectural Components -- 12.4 Case Study - GRACE -- 12.5 The Art of Robot Architectures -- 12.6 Implementing Robotic Systems Architectures -- 12.7 Conclusions and Further Reading -- Video-References -- References -- 13 Behavior-Based Systems -- 13.1 Robot Control Approaches -- 13.2 Basic Principles of Behavior-Based Systems -- 13.3 Basis Behaviors -- 13.4 Representation in Behavior-Based Systems -- 13.5 Learning in Behavior-Based Systems 20.4 Modeling of Locomotion for Snake-Like and Continuum Mechanisms -- 20.5 Conclusion and Extensions to Related Areas -- Video-References -- References -- 21 Actuators for Soft Robotics -- 21.1 Background -- 21.2 Soft Robot Design -- 21.3 Modeling Actuators for Soft Robotics -- 21.4 Modeling Soft Robots -- 21.5 Stiffness Estimation -- 21.6 Cartesian Stiffness Control -- 21.7 Periodic Motion Control -- 21.8 Optimal Control of Soft Robots -- 21.9 Conclusions and Open Problems -- Video-References -- References -- 22 Modular Robots -- 22.1 Concepts and Definitions -- 22.2 Reconfigurable Modular Manipulators -- 22.3 Self-Reconfigurable Modular Robots -- 22.4 Conclusion and Further Reading -- Video-References -- References -- 23 Biomimetic Robots -- 23.1 Overview -- 23.2 Components of Biomimetic Robot Design -- 23.3 Mechanisms -- 23.4 Material and Fabrication -- 23.5 Conclusion -- Video-References -- References -- 24 Wheeled Robots -- 24.1 Overview -- 24.2 Mobility of Wheeled Robots -- 24.3 Wheeled Robot Structures -- 24.4 Wheel-Terrain Interaction Models -- 24.5 Wheeled Robot Suspensions -- 24.6 Conclusions -- Video-References -- References -- 25 Underwater Robots -- 25.1 Background -- 25.2 Mechanical Systems -- 25.3 Power Systems -- 25.4 Underwater Actuators and Sensors -- 25.5 Computers, Communications, and Architecture -- 25.6 Underwater Manipulators -- 25.7 Conclusions and Further Reading -- Video-References -- References -- 26 Flying Robots -- 26.1 Background and History -- 26.2 Characteristics of Aerial Robotics -- 26.3 Basics of Aerodynamics and Flight Mechanics -- 26.4 Airplane Modeling and Design -- 26.5 Rotorcraft Modeling and Design -- 26.6 Flapping Wing Modeling and Design -- 26.7 System Integration and Realization -- 26.8 Applications of Aerial Robots -- 26.9 Conclusions and Further Reading -- Video-References -- References 27 Micro-/Nanorobots -- 27.1 Overview of Micro- and Nanorobotics -- 27.2 Scaling -- 27.3 Actuation at the Micro- and Nanoscales -- 27.4 Imaging at the Micro- and Nanoscales -- 27.5 Fabrication -- 27.6 Microassembly -- 27.7 Microrobotics -- 27.8 Nanorobotics -- 27.9 Conclusions -- Video-References -- References -- Part C Sensing and Perception -- 28 Force and Tactile Sensing -- 28.1 Overview -- 28.2 Sensor Types -- 28.3 Tactile Information Processing -- 28.4 Integration Challenges -- 28.5 Conclusions and Future Developments -- Video-References -- References -- 29 Inertial Sensing, GPS and Odometry -- 29.1 Odometry -- 29.2 Gyroscopic Systems -- 29.3 Accelerometers -- 29.4 IMU Packages -- 29.5 Satellite-Based Positioning (GPS and GNSS) -- 29.6 GPS-IMU Integration -- 29.7 Further Reading -- 29.8 Currently Available Hardware -- References -- 30 Sonar Sensing -- 30.1 Sonar Principles -- 30.2 Sonar Beam Pattern -- 30.3 Speed of Sound -- 30.4 Waveforms -- 30.5 Transducer Technologies -- 30.6 Reflecting Object Models -- 30.7 Artifacts -- 30.8 TOF Ranging -- 30.9 Echo Waveform Coding -- 30.10 Echo Waveform Processing -- 30.11 CTFM Sonar -- 30.12 Multipulse Sonar -- 30.13 Sonar Rings and Arrays -- 30.14 Motion Effects -- 30.15 Biomimetic Sonars -- 30.16 Conclusions -- Video-References -- References -- 31 Range Sensing -- 31.1 Range Sensing Basics -- 31.2 Sensor Technologies -- 31.3 Registration -- 31.4 Navigation and Terrain Classification and Mapping -- 31.5 Conclusions and Further Reading -- References -- 32 3-D Vision for Navigation and Grasping -- 32.1 Geometric Vision -- 32.2 3-D Vision for Grasping -- 32.3 Conclusion and Further Reading -- Video-References -- References -- 33 Visual Object Class Recognition -- 33.1 Object Classes -- 33.2 Review of the State of the Art -- 33.3 Discussion and Conclusions -- References -- 34 Visual Servoing 13.6 Applications and Continuing Work -- 13.7 Conclusions and Further Reading -- Video-References -- References -- 14 AI Reasoning Methods for Robotics -- 14.1 Why Should a Robot Use AI-Type Reasoning? -- 14.2 Knowledge Representation and Processing -- 14.3 Reasoning and Decision Making -- 14.4 Plan-Based Robot Control -- 14.5 Conclusions and Further Reading -- Video-References -- References -- 15 Robot Learning -- 15.1 What Is Robot Learning -- 15.2 Model Learning -- 15.3 Reinforcement Learning -- 15.4 Conclusions -- Video-References -- References -- Part B Design -- 16 Design and Performance Evaluation -- 16.1 The Robot Design Process -- 16.2 Workspace Criteria -- 16.3 Dexterity Indices -- 16.4 Other Performance Indices -- 16.5 Other Robot Types -- 16.6 Summary -- References -- 17 Limbed Systems -- 17.1 Design of Limbed Systems -- 17.2 Conceptual Design -- 17.3 Whole Design Process Example -- 17.4 Model Induced Design -- 17.5 Various Limbed Systems -- 17.6 Performance Indices -- Video-References -- References -- 18 Parallel Mechanisms -- 18.1 Definitions -- 18.2 Type Synthesis of Parallel Mechanisms -- 18.3 Kinematics -- 18.4 Velocity and Accuracy Analysis -- 18.5 Singularity Analysis -- 18.6 Workspace Analysis -- 18.7 Static Analysis -- 18.8 Dynamic Analysis -- 18.9 Design -- 18.10 Wire-Driven Parallel Robots -- 18.11 Application Examples -- 18.12 Conclusion and Further Reading -- Video-References -- References -- 19 Robot Hands -- 19.1 Basic Concepts -- 19.2 Design of Robot Hands -- 19.3 Technologies for Actuation and Sensing -- 19.4 Modeling and Control of a Robot Hand -- 19.5 Applications and Trends -- 19.6 Conclusions and Further Reading -- Video-References -- References -- 20 Snake-Like and Continuum Robots -- 20.1 Snake Robots - Short History -- 20.2 Continuum Robots - Short History -- 20.3 Snake-Like and Continuum Robot Modeling |
| Title | Springer handbook of robotics |
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