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The second edition of this handbook provides a state-of-the-art
overview 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.
Springer Handbook of Robotics Multimedia Extension Portal:
http://handbookofrobotics.org/
This book is the volume of the proceedings for the 17th Edition of
ISER. The goal of ISER (International Symposium on Experimental
Robotics) symposia is to provide a single-track forum on the
current developments and new directions of experimental robotics.
The series has traditionally attracted a wide readership of
researchers and practitioners interested to the advances and
innovations of robotics technology. The 54 contributions cover a
wide range of topics in robotics and are organized in 9 chapters:
aerial robots, design and prototyping, field robotics, human-robot
interaction, machine learning, mapping and localization,
multi-robots, perception, planning and control. Experimental
validation of algorithms, concepts, or techniques is the common
thread running through this large research collection. Chapter "A
New Conversion Method to Evaluate the Hazard Potential of
Collaborative Robots in Free Collisions" is available open access
under a Creative Commons Attribution 4.0 International License via
link.springer.com.
With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications.
Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems.
Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems.
Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures
Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation.
Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.
This book is of interest to researchers wanting to know more about
the latest topics and methods in the fields of the kinematics,
control and design of robotic systems. The papers cover the full
range of robotic systems, including serial, parallel and
cable-driven manipulators. The systems range from being less than
fully mobile, to kinematically redundant, to over-constrained. The
book brings together 43 peer-reviewed papers. They report on the
latest scientific and applied achievements. The main theme that
connects them is the movement of robots in the most diverse areas
of application.
This book is the volume of the proceedings for the 17th Edition of
ISER. The goal of ISER (International Symposium on Experimental
Robotics) symposia is to provide a single-track forum on the
current developments and new directions of experimental robotics.
The series has traditionally attracted a wide readership of
researchers and practitioners interested to the advances and
innovations of robotics technology. The 54 contributions cover a
wide range of topics in robotics and are organized in 9 chapters:
aerial robots, design and prototyping, field robotics, human-robot
interaction, machine learning, mapping and localization,
multi-robots, perception, planning and control. Experimental
validation of algorithms, concepts, or techniques is the common
thread running through this large research collection. Chapter "A
New Conversion Method to Evaluate the Hazard Potential of
Collaborative Robots in Free Collisions" is available open access
under a Creative Commons Attribution 4.0 International License via
link.springer.com.
Aerial robotic manipulation integrates concepts and technologies
coming from unmanned aerial systems and robotics manipulation. It
includes not only kinematic, dynamics, aerodynamics and control but
also perception, planning, design aspects, mechatronics and
cooperation between several aerial robotics manipulators. All these
topics are considered in this book in which the main research and
development approaches in aerial robotic manipulation are
presented, including the description of relevant systems. In
addition of the research aspects, the book also includes the
deployment of real systems both indoors and outdoors, which is a
relevant characteristic of the book because most results of aerial
robotic manipulation have been validated only indoor using motion
tracking systems. Moreover, the book presents two relevant
applications: structure assembly and inspection and maintenance,
which has started to be applied in the industry. The Chapters of
the book will present results of two main European Robotics
Projects in aerial robotics manipulation: FP7 ARCAS and H2020
AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic
manipulation, including cooperative manipulation. The H2020
AEROARMS on aerial robot with multiple arms and advanced
manipulation capabilities for inspection and maintenance has two
general objectives: (1) development of advanced aerial robotic
manipulation methods and technologies, including manipulation with
dual arms and multi-directional thrusters aerial platforms; and (2)
application to the inspection and maintenance.
This book is of interest to researchers wanting to know more about
the latest topics and methods in the fields of the kinematics,
control and design of robotic systems. The papers cover the full
range of robotic systems, including serial, parallel and
cable-driven manipulators. The systems range from being less than
fully mobile, to kinematically redundant, to over-constrained. The
book brings together 43 peer-reviewed papers. They report on the
latest scientific and applied achievements. The main theme that
connects them is the movement of robots in the most diverse areas
of application.
Dexterous and autonomous manipulation is a key technology for the
personal and service robots of the future. Advances in Bimanual
Manipulation edited by Bruno Siciliano provides the robotics
community with the most noticeable results of the four-year
European project DEXMART (DEXterous and autonomous dual-arm hand
robotic manipulation with sMART sensory-motor skills: A bridge from
natural to artificial cognition). The volume covers a host of
highly important topics in the field, concerned with modelling and
learning of human manipulation skills, algorithms for task
planning, human-robot interaction, and grasping, as well as
hardware design of dexterous anthropomorphic hands. The results
described in this five-chapter collection are believed to pave the
way towards the development of robotic systems endowed with
dexterous and human-aware dual-arm/hand manipulation skills for
objects, operating with a high degree of autonomy in unstructured
real-world environments.
One of the fundamental requirements for the success of a robot task
is the capability to handle interaction between manipulator and
environment. The quantity that describes the state of interaction
more effectively is the contact force at the manipulator's end
effector. High values of contact force are generally undesirable
since they may stress both the manipulator and the manipulated
object; hence the need to seek for effective force control
strategies. The book provides a theoretical and experimental
treatment of robot interaction control. In the framework of
model-based operational space control, stiffness control and
impedance control are presented as the basic strategies for
indirect force control; a key feature is the coverage of
six-degree-of-freedom interaction tasks and manipulator kinematic
redundancy. Then, direct force control strategies are presented
which are obtained from motion control schemes suitably modified by
the closure of an outer force regulation feedback loop. Finally,
advanced force and position control strategies are presented which
include passivity-based, adaptive and output feedback control
schemes. Remarkably, all control schemes are experimentally tested
on a setup consisting of a seven-joint industrial robot with open
control architecture and force/torque sensor. The topic of robot
force control is not treated in depth in robotics textbooks, in
spite of its crucial importance for practical manipulation tasks.
In the few books addressing this topic, the material is often
limited to single-degree-of-freedom tasks. On the other hand,
several results are available in the robotics literature but no
dedicated monograph exists. The book is thus aimed at filling this
gap by providing a theoretical and experimental treatment of robot
force control.
Dexterous and autonomous manipulation is a key technology for the
personal and service robots of the future. Advances in Bimanual
Manipulation edited by Bruno Siciliano provides the robotics
community with the most noticeable results of the four-year
European project DEXMART (DEXterous and autonomous dual-arm hand
robotic manipulation with sMART sensory-motor skills: A bridge from
natural to artificial cognition). The volume covers a host of
highly important topics in the field, concerned with modelling and
learning of human manipulation skills, algorithms for task
planning, human-robot interaction, and grasping, as well as
hardware design of dexterous anthropomorphic hands. The results
described in this five-chapter collection are believed to pave the
way towards the development of robotic systems endowed with
dexterous and human-aware dual-arm/hand manipulation skills for
objects, operating with a high degree of autonomy in unstructured
real-world environments.
A study of the latest research results in the theory of robot
control, structured so as to echo the gradual development of robot
control over the last fifteen years. In three major parts, the
editors deal with the modelling and control of rigid and flexible
robot manipulators and mobile robots. Most of the results on rigid
robot manipulators in part I are now well established, while for
flexible manipulators in part II, some problems still remain
unresolved. Part III deals with the control of mobile robots, a
challenging area for future research. The whole is rounded off with
an appendix reviewing basic definitions and the mathematical
background for control theory. The particular combination of topics
makes this an invaluable source of information for both graduate
students and researchers.
Atthedawnofthenewmillennium,
roboticsisundergoingamajortransformation
inscopeanddimension.Fromalargelydominantindustrialfocus,
roboticsisrapidly expanding into the challenges of unstructured
environments. Interacting with, - sisting, serving, and exploring
with humans, the emerging robots will increasingly
touchpeopleandtheirlives.
ThegoalofthenewseriesofSpringerTractsinAdvancedRobotics(STAR)isto
bring, in a timely fashion, the latest advances and developments in
robotics on the
basisoftheirsigni?canceandquality.Itisourhopethatthewiderdisseminationof
researchdevelopmentswillstimulatemoreexchangesandcollaborationsamongthe
researchcommunityandcontributetofurtheradvancementofthisrapidlygrowing
?eld. Sinceitsinceptionsomefourteenyearsago, ISER,
theInternationalSymposium on Experimental Robotics was published in
the Springer Lecture Notes in Control and Information Sciences
(LNCIS). With the launching of STAR, a more suitable
homeisfoundforthisandotherthematicsymposiadevotedtoexcellenceinrobotics
research.
TheEightheditionofExperimentalRoboticseditedbyBrunoSicilianoandPaolo
Dario offers in its ?fteen-chapter volume a collection of a broad
range of topics in
robotics.Thecontentsofthesecontributionsrepresentacross-sectionofthecurrent
stateofroboticsresearchfromoneparticularaspect: experimentalwork,
andhowit
re?ectsonthetheoreticalbasisofsubsequentdevelopments.Experimentalvalidation
ofalgorithms, designconcepts,
ortechniquesisthecommonthreadrunningthrough
thislargecollectionofwidelydiversecontributions. From its charming
venue to its excellent program, ISER culminates with this unique
reference on the current developments and new directions in the
?eld of
experimentalrobotics-atributetothecommitmentanddedicationofitshosts
California, USA OussamaKhatib November2002 STAREditor Preface The
International Symposium on Experimental Robotics (ISER) is a series
of - annual meetings, which are organized in a rotating fashion
around North Am- ica,
EuropeandAsia/Oceania.PreviousvenueswereMontreal(Canada), Toulouse
(France), Kyoto (Japan), Stanford (USA), Barcelona (Spain), Sydney
(Australia), Honolulu (USA). The goal of these symposia is to
provide a forum for research in robotics that focuses on theories
and principles that are validated by experiments.
Themeetingsareconceivedtobringtogether, inasmallgroupsetting,
researchers
fromaroundtheworldwhoareintheforefrontofexperimentalroboticsresearch.
Thepost-symposiumExperimentalRoboticsproceedingshavetraditionallybeen
published by Springer-Verlag. In addition to the proceedings, these
symposia have produced compilation of video segments illustrating
the reported research, which areavailableasvideoproceedings. The
Eight International Symposium on Experimental Robotics (ISER 02)
was held in the charming sea village of Sant'Angelo on the island
of Ischia in the gulf ofNaples,
Italyon8-11July2002.ThesymposiumwaschairedbyBrunoSiciliano andPaol
This monograph presents an updated source of information on the
state of the art in advanced control of articulated and mobile
robots. It includes relevant selected problems dealing with
enhanced actuation, motion planning and control functions for
articulated robots, as well as of sensory and autonomous decision
capabilities for mobile robots. The basic idea behind the book is
to provide a larger community of robotic researchers and developers
with a reliable source of information and innovative applications
in the field of control of cooperating and mobile robots. This book
is the outcome of the research project MISTRAL (Methodologies and
Integration of Subsystems and Technologies for Anthropic Robotics
and Locomotion) funded in 2001-2002 by the Italian Ministry for
Education, University and Research. The thorough discussion,
rigorous treatment, and wide span of the presented work reveal the
significant advances in the theoretical foundation and technology
basis of the robotics field worldwide.
The classic text on robot manipulators now covers visual control,
motion planning and mobile robots too! Based on the successful
Modelling and Control of Robot Manipulators by Sciavicco and
Siciliano (Springer, 2000), Robotics provides the basic know-how on
the foundations of robotics: modelling, planning and control. It
has been expanded to include coverage of mobile robots, visual
control and motion planning. A variety of problems is raised
throughout, and the proper tools to find engineering-oriented
solutions are introduced and explained. The text includes coverage
of fundamental topics like kinematics, and trajectory planning and
related technological aspects including actuators and sensors. To
impart practical skill, examples and case studies are carefully
worked out and interwoven through the text, with frequent resort to
simulation. In addition, end-of-chapter exercises are proposed, and
the book is accompanied by an electronic solutions manual
containing the MATLAB (R) code for computer problems; this is
available free of charge to those adopting this volume as a
textbook for courses.
This monograph presents an updated source of information on the
state of the art in advanced control of articulated and mobile
robots. It includes relevant selected problems dealing with
enhanced actuation, motion planning and control functions for
articulated robots, as well as of sensory and autonomous decision
capabilities for mobile robots. The basic idea behind the book is
to provide a larger community of robotic researchers and developers
with a reliable source of information and innovative applications
in the field of control of cooperating and mobile robots. This book
is the outcome of the research project MISTRAL (Methodologies and
Integration of Subsystems and Technologies for Anthropic Robotics
and Locomotion) funded in 2001-2002 by the Italian Ministry for
Education, University and Research. The thorough discussion,
rigorous treatment, and wide span of the presented work reveal the
significant advances in the theoretical foundation and technology
basis of the robotics field worldwide.
This book is a collection of papers on the state of the art in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines, of which its controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results, pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers in this book were presented at the 2002 International Symposium on Experimental Robotics.
Robotics applications, initially developed for industrial and
manufacturing contexts, are now strongly present in several elds.
Besides well-known space and high-technology applications, robotics
for every day life and medical s- vices is becoming more and more
popular. As an example, robotic manipu- tors are particularly
useful in surgery and radiation treatments, they could be employed
for civil demining, for helping disabled people, and ultimately for
domestic tasks, entertainment and education. Such a kind of robotic
app- cations require the integration of many di erent skills.
Autonomous vehicles and mobile robots in general must be integrated
with articulated manipu- tors. Many robotic technologies (sensors,
actuators and computing systems) must be properly used with speci c
technologies (localisation, planning and control technologies). The
task of designing robots for these applications is a hard
challenge: a speci c competence in each area is demanded, in the e
ort of a truly integrated multidisciplinary design.
One of the fundamental requirements for the success of a robot task
is the capability to handle interaction between manipulator and
environment. The quantity that describes the state of interaction
more effectively is the contact force at the manipulator's end
effector. High values of contact force are generally undesirable
since they may stress both the manipulator and the manipulated
object; hence the need to seek for effective force control
strategies. The book provides a theoretical and experimental
treatment of robot interaction control. In the framework of
model-based operational space control, stiffness control and
impedance control are presented as the basic strategies for
indirect force control; a key feature is the coverage of
six-degree-of-freedom interaction tasks and manipulator kinematic
redundancy. Then, direct force control strategies are presented
which are obtained from motion control schemes suitably modified by
the closure of an outer force regulation feedback loop. Finally,
advanced force and position control strategies are presented which
include passivity-based, adaptive and output feedback control
schemes. Remarkably, all control schemes are experimentally tested
on a setup consisting of a seven-joint industrial robot with open
control architecture and force/torque sensor. The topic of robot
force control is not treated in depth in robotics textbooks, in
spite of its crucial importance for practical manipulation tasks.
In the few books addressing this topic, the material is often
limited to single-degree-of-freedom tasks. On the other hand,
several results are available in the robotics literature but no
dedicated monograph exists. The book is thus aimed at filling this
gap by providing a theoretical and experimental treatment of robot
force control.
Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.
This book collects the main results of the Advanced Grant project
RoDyMan funded by the European Research Council. As a final
demonstrator of the project, a pizza-maker robot was realized. This
represents a perfect example of understanding the robot challenge,
considering every inexperienced person's difficulty preparing a
pizza. Through RoDyMan, the opportunity was to merge all the
acquired competencies in advancing the state of the art in
nonprehensile dynamic manipulation, which is the most complex
manipulation task, considering deformable objects. This volume is
intended to present Ph.D. students and postgraduates working on
deformable object perception and robot manipulation control the
results achieved within RoDyMan and propose cause for reflection of
future developments. The RoDyMan project culminating with this book
is meant as a tribute to Naples, the hosting city of the project,
an avant-garde city in robotics technology, automation, gastronomy,
and art culture.
In-depth coverage of control both of manipulators and mobile robots
sets this apart from other robotics textbooks Worked examples and
MATLABr-based simulations developed throughout the text Expands and
updates an already-popular text with material that will make it
even more attractive for use in all kinds of graduate robotics
courses Electronic solutions manual to be supplied free of charge
to academics adopting this text for courses The classic text on
robot manipulators now covers visual control, motion planning and
mobile robots too Robotics provides the basic know-how on the
foundations of robotics: modelling, planning and control. The text
develops around a core of consistent and rigorous formalism with
fundamental and technological material giving rise naturally and
with gradually increasing difficulty to more advanced
considerations. The theory of manipulator structures presented in
the early part of the book encompasses: the fundamentals:
kinematics, statics and trajectory planning; and the technology of
actuators, sensors and control units. Subsequently, more advanced
instruction is given in: dynamics and motion control of robot
manipulators; environmental interaction using exteroceptive sensory
data (force and vision); mobile robots; and motion planning.
Appendices ensure that students will have access to a consistent
level of background in basic areas such as rigid-body mechanics,
feedback control, and others. Problems are raised and the proper
tools established to find engineering-oriented solutions rather
than to focus on abstruse theoretical methodology. To impart
practical skill, more than 60 examples and case studies are
carefully worked out and interwoven through the text, with frequent
resort to simulation. In addition, nearly 150 end-of-chapter
problems are proposed, and the book is accompanied by a pdf
solutions manual containing the MATLABr code for computer problems;
this is available free of
Aerial robotic manipulation integrates concepts and technologies
coming from unmanned aerial systems and robotics manipulation. It
includes not only kinematic, dynamics, aerodynamics and control but
also perception, planning, design aspects, mechatronics and
cooperation between several aerial robotics manipulators. All these
topics are considered in this book in which the main research and
development approaches in aerial robotic manipulation are
presented, including the description of relevant systems. In
addition of the research aspects, the book also includes the
deployment of real systems both indoors and outdoors, which is a
relevant characteristic of the book because most results of aerial
robotic manipulation have been validated only indoor using motion
tracking systems. Moreover, the book presents two relevant
applications: structure assembly and inspection and maintenance,
which has started to be applied in the industry. The Chapters of
the book will present results of two main European Robotics
Projects in aerial robotics manipulation: FP7 ARCAS and H2020
AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic
manipulation, including cooperative manipulation. The H2020
AEROARMS on aerial robot with multiple arms and advanced
manipulation capabilities for inspection and maintenance has two
general objectives: (1) development of advanced aerial robotic
manipulation methods and technologies, including manipulation with
dual arms and multi-directional thrusters aerial platforms; and (2)
application to the inspection and maintenance.
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