Bücher der Reihe Springer Tracts in Advanced Robotics

Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others.

This is the most complete book on virtual decomposition control. This approach uses subsystem dynamics to conduct control design, while guaranteeing the stability and convergence of the entire robot without compromising the rigorousness of the system analysis.

Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others.

Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others.

This book details the use of random finite sets (RFS) and finite set statistics (FISST) in robotics. It focuses on the representation of the environment and its uncertainty, and presents pseudo-code implementations of all the RFS techniques.

The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015.

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.

A classic in underwater robotics. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed.

This book examines the main control aspects in dynamic robotic control of underwater vehicles. It presents a mathematical model with significant impact on the control strategy.

Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place.

This book describes a number of techniques developed to solve a central problem in the navigation of autonomous underwater vehicles (AUVs). It focuses in particular on localization methods and especially on simultaneous localization and mapping (SLAM).

This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics.

Incorporating papers from the 12th International Symposium on Experimental Robotics (ISER), December 2010, this book examines the latest advances across the various fields of robotics. Offers insights on both theoretical concepts and experimental results.

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania.

Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots.

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of  ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco.  This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.

This unique collection is the post-conference proceedings of the 4th "International Conference on Field and Service Robotics" (FSR). The book represents a cross-section of the current state of robotics research from one particular aspect: field and service applications, and how they reflect on the theoretical basis of subsequent developments.

This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics.

This unique collection is the post-conference proceedings of the 4th "International Conference on Field and Service Robotics" (FSR). The book represents a cross-section of the current state of robotics research from one particular aspect: field and service applications, and how they reflect on the theoretical basis of subsequent developments.

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.

This book contains selected contributions to WAFR, the highly-competitive meeting on the algorithmic foundations of robotics. They address the unique combination of questions that the design and analysis of robot algorithms inspires.

To advance the state of the art in service robotics towards robots, which are capable of operating in an everyday environment, was the major objective of the DESIRE project (Deutsche Service Robotik Initiative - Germany Service Robotics Initiative) funded by the German Ministry of Education and Research (BMBF) under grant no.

Because actions in the physical world are subject to physical laws and geometric constraints, the design and analysis of robot algorithms raise a unique combination of questions in control theory, computational and differential geometry, and computer science.

"Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures.

Coverage includes: physical human-robot interaction, humanoids, mechanisms and design, simultaneous localization and mapping, field robots, robotic vision, robot design and control, underwater robotics, learning and adaptive behavior, networked robotics, and interfaces and interaction.

Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place.

This book presents the framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. It details novel grasp-task sensor-based control methods using vision, tactile and force feedback.

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

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.