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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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Redundancy in Robot Manipulators and Multi-Robot Systems (Paperback, 2013 ed.)
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Redundancy in Robot Manipulators and Multi-Robot Systems (Paperback, 2013 ed.)
Series: Lecture Notes in Electrical Engineering, 57
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The trend in the evolution of robotic systems is that the number of
degrees of freedom increases. This is visible both in robot
manipulator design and in the shift of focus from single to
multi-robot systems. Following the principles of evolution in
nature, one may infer that adding degrees of freedom to robot
systems design is beneficial. However, since nature did not select
snake-like bodies for all creatures, it is reasonable to expect the
presence of a certain selection pressure on the number of degrees
of freedom. Thus, understanding costs and benefits of multiple
degrees of freedom, especially those that create redundancy, is a
fundamental problem in the field of robotics. This volume is mostly
based on the works presented at the workshop on Redundancy in Robot
Manipulators and Multi-Robot Systems at the IEEE/RSJ International
Conference on Intelligent Robots and Systems - IROS 2011. The
workshop was envisioned as a dialog between researchers from two
separate, but obviously related fields of robotics: one that deals
with systems having multiple degrees of freedom, including
redundant robot manipulators, and the other that deals with
multirobot systems. The volume consists of twelve chapters, each
representing one of the two fields.
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