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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Bibliographic Details
Main Authors Siciliano, Bruno, Khatib, Oussama
Format eBook Book
LanguageEnglish
Published Cham Springer 2016
Springer International Publishing AG
Springer International Publishing
Edition2
SeriesSpringer Handbooks
Subjects
Artificial Intelligence
Computational Intelligence
Control, Robotics, Mechatronics
Engineering
Engineering Design
Manufacturing, Machines, Tools, Processes
Robotics > Handbooks, manuals, etc
Online AccessGet full text

Cover

Table of Contents:
  • 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