Experimental Robotics

by Khatib, Oussama; Kumar, Vijay; Pappas, George

• ISBN13: 9783642001956
• ISBN10: 3642001955
• Format: Hardcover
• Copyright: 2009-06-03
• Publisher: Springer Verlag

Summary

The Springer Tracts in Advanced Robotics (STAR) publishes new developments and advances in the fields of robotics research-rapidly and informally but with a high quality. The intent is to cover all the technical topics, applications, and multidisciplinary aspects of robotics, embedded in the fields of Mechanical Engineering, Computer Science, Electrical Engineering, Mechatronics, Control, and Life Sciences-as well as the methodologies behind them. Within the scope of the series are monographs, lecture notes, selected contributions from specialized conferences and workshops, as well as selected PhD theses.

Table of Contents

Design
Introduction	p. 1
The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments	p. 3
Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration	p. 13
Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm	p. 25
Portable Autonomous Vehicle Controller	p. 35
Design and Control of a Bio-inspired Human-Friendly Robot	p. 43
Autonomous Driving
Introduction	p. 53
Path Planning for Autonomous Driving in Unknown Environments	p. 55
Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor	p. 65
Efficient Techniques for Dynamic Vehicle Detection	p. 79
Comparison of Boosting Based Terrain Classification Using Proprioceptive and Exteroceptive Data	p. 93
Cooperation
Introduction	p. 103
Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation	p. 105
Maintaining Connectivity in Mobile Robot Networks	p. 117
From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots	p. 127
Co-ordinated Tracking and Planning Using Air and Ground Vehicles	p. 137
Distributed Robotic Radiation Mapping	p. 147
Mini and Micro Robots
Introduction	p. 157
Visual Tracking for Teams of Miniature Robots	p. 159
Small, Fast, and under Control: Wireless Resonant Magnetic Micro-agents	p. 169
Visually Servoed Orientation Control of Biological Cells in Microrobotic Cell Manipulation	p. 179
Human Robot Interaction
Introduction	p. 189
A First Investigation into the Teleoperation of a Miniature Rotorcraft	p. 191
Toward Socially Assistive Robotics for Augmenting Interventions for Children with Autism Spectrum Disorders	p. 201
Teaching Robots via Natural Nonverbal Cues	p. 211
The Psychological Effects of Attendance of an Android on Communication	p. 221
SHARY: A Supervision System Adapted to Human-Robot Interaction	p. 229
Medical Robotics
Introduction	p. 239
EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons	p. 241
An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium	p. 251
Mechanical Response of Embryonic Stem Cells Using Haptics-Enabled Atomic Force Microscopy	p. 261
Task-Space Control of Continuum Manipulators with Coupled Tendon Drive	p. 271
Locomotion
Introduction	p. 281
Passing under Obstacles with Humanoid Robots	p. 283
Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2	p. 293
A Physical Model for Dynamical Arthropod Running on Level Ground	p. 303
Reliable Dynamic Motions for a Stiff Quadruped	p. 319
Bioinspired Jumping Locomotion in Small Robots: Natural Observation, Design, Experiments	p. 329
Localization and Mapping
Introduction	p. 339
A Robust Method of Localization and Mapping Using Only Range	p. 341
Visual Appearance Mapping for Optimal Vision Based Servoing	p. 353
Place Recognition Using Keypoint Similarities in 2D Lidar Maps	p. 363
A First-Estimates Jacobian EKF for Improving SLAM Consistency	p. 373
UUVs and UAVs
Introduction	p. 383
Autonomous Autorotation of an RC Helicopter	p. 385
Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle	p. 395
Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV	p. 407
A Boosting Approach to Visual Servo-Control of an Underwater Robot	p. 417
Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads	p. 429
Sensing and Planning
Introduction	p. 439
Adaptive Full Scan Model for Range Finders in Dynamic Environments	p. 441
Empirical Sampling of Path Sets for Local Area Motion Planning	p. 451
Motion Strategies for People Tracking in Cluttered and Dynamic Environments	p. 463
Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms	p. 473
Vision
Introduction	p. 483
Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing	p. 485
Humanoid Vision Resembles Primate Archetype	p. 495
Learning to Associate Image Features with CRF-Matching	p. 505
Fast Relative Pose Calibration for Visual and Inertial Sensors	p. 515
Scale Invariant Detection and Tracking of Elongated Structures	p. 525
Manipulation
Introduction	p. 535
Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera	p. 537
Coordinated Control and Range Imaging for Mobile Manipulation	p. 547
Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control	p. 557
Development of a Manipulation Component for a Container Transferring Robot in Living Space: Design and Evaluation of a High Compliant Manipulation Mechanism	p. 567
Author Index	p. 577
Table of Contents provided by Ingram. All Rights Reserved.