Springer Handbook of Robotics

by Siciliano, Bruno; Khatib, Oussama

• ISBN13: 9783540239574
• ISBN10: 354023957X
• Edition: DVD
• Format: Hardcover
• Copyright: 2008-07-09
• Publisher: Springer-Verlag New York Inc

Summary

A new, authoritative and utterly comprehensive reference work on robotics that incorporates new developments, surpassing the narrow scope of other robotics handbooks that focus on industrial applications. Edited by internationally renowned experts.

Author Biography

Bruno Siciliano is Professor of Control and Robotics at the University of Naples Federico II in Italy, President of the IEEE Robotics and Automation Society, and a Fellow of both IEEE and ASME.Oussama Khatib is Professor of Computer Science at Stanford University in the USA, President of the International Foundation of Robotics Research, an IEEE Fellow, and a recipient of the Japan Robot Association Award in Research and Development.

Table of Contents

Introduction	p. 1
Robotics Foundations
Kinematics	p. 9
Dynamics	p. 35
Mechanisms and Actuation	p. 67
Sensing and Estimation	p. 87
Motion Planning	p. 109
Motion Control	p. 133
Force Control	p. 161
Robotic Systems Architectures and Programming	p. 187
AI Reasoning Methods for Robotics	p. 207
Robot Structures
Performance Evaluation and Design Criteria	p. 229
Kinematically Redundant Manipulators	p. 245
Parallel Mechanisms and Robots	p. 269
Robots with Flexible Elements	p. 287
Model Identification	p. 321
Robot Hands	p. 345
Legged Robots	p. 361
Wheeled Robots	p. 391
Micro/Nanorobots	p. 411
Sensing and Perception
Force and Tactile Sensors	p. 455
Inertial Sensors, GPS, and Odometry	p. 477
Sonar Sensing	p. 491
Range Sensors	p. 521
3-D Vision and Recognition	p. 543
Visual Servoing and Visual Tracking	p. 563
Multisensor Data Fusion	p. 585
Manipulation and Interfaces
Motion for Manipulation Tasks	p. 615
Contact Modeling and Manipulation	p. 647
Grasping	p. 671
Cooperative Manipulators	p. 701
Haptics	p. 719
Telerobotics	p. 741
Networked Telerobots	p. 759
Exoskeletons for Human Performance Augmentation	p. 773
Mobile and Distributed Robotics
Motion Control of Wheeled Mobile Robots	p. 799
Motion Planning and Obstacle Avoidance	p. 827
World Modeling	p. 853
Simultaneous Localization and Mapping	p. 871
Behavior-Based Systems	p. 891
Distributed and Cellular Robots	p. 911
Multiple Mobile Robot Systems	p. 921
Networked Robots	p. 943
Field and Service Robotics
Industrial Robotics	p. 963
Underwater Robotics	p. 987
Aerial Robotics	p. 1009
Space Robots and Systems	p. 1031
Robotics in Agriculture and Forestry	p. 1065
Robotics in Construction	p. 1079
Robotics in Hazardous Applications	p. 1101
Mining Robotics	p. 1127
Search and Rescue Robotics	p. 1151
Intelligent Vehicles	p. 1175
Medical Robotics and Computer-Integrated Surgery	p. 1199
Rehabilitation and Health Care Robotics	p. 1223
Domestic Robotics	p. 1253
Robots for Education	p. 1283
Human-Centered and Life-Like Robotics
Humanoids	p. 1307
Safety for Physical Human-Robot Interaction	p. 1335
Social Robots that Interact with People	p. 1349
Robot Programming by Demonstration	p. 1371
Biologically Inspired Robots	p. 1395
Evolutionary Robotics	p. 1423
Neurorobotics: From Vision to Action	p. 1453
Perceptual Robotics	p. 1481
Roboethics: Social and Ethical Implications of Robotics	p. 1499
Subject Index
Table of Contents provided by Blackwell. All Rights Reserved.