Bøker i Springer Tracts in Advanced Robotics-serien

This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation.

This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced.

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.

This book examines the requirements needed to ensure safety in human-robot coexistence. It focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts and isolates major factors that cause human injuries.

Robots can't climb trees. Or can they? This volume features the work of leading experts who have tackled this kinematic conundrum, with motion analysis of tree-climbing animals and details of a novel robot engineered as a result of this research.

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).

Using novel model-based methods, this book bridges the gap between statistical mechanics and control theory by tackling challenges for a class of distributed systems involving a specific type of constitutive components, referred to as Smart Minimal Particles.

With functional analyses both of human and robotic hands, this work sets out a new approach in anthropomorphic robot design with broad, systemic relevance. The techniques set a new standard in robot hand kinematics, fulfilling full sets of task criteria.

This book presents an accurate, efficient pipeline for single camera-based 3D mapping of terrestrial and underwater environments. The authors offer a novel Structure from Motion algorithm that boosts accuracy by registering camera views directly with the maps.

The bipedal robot Lucy boasts breakthrough technology, using pleated pneumatic artificial muscles instead of the customary electrical drives. This book gives a complete description of Lucy's hardware, electronics and software and reports latest developments.

This book presents the main achievements of the EuRoC (European Robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Programme.

Since the quality of a visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed.

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

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

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.

Bernstein in the 60's on the existence of motor synergies, numerous researchers "walking on the border" of their disciplines tend to discover laws and principles underlying the human motions and how the brain reduces the redundancy of the system.

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis.

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.

The International Symposium of Robotics Research (ISRR) continues to be the premiere meeting of the International Foundation of Robotics Research (IFRR).

Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation.

Part one describes safety in complex systems such as surgery, how this may disrupt the traditional surgical workflow, how safety can be monitored, and the research questions that must be posed.

This book introduces readers to the latest findings on disaster robotics. It is based on the ImPACT Tough Robotics Challenge, a national project spearheaded by the Japan Cabinet Office that focuses on developing robotics technologies to aid in disaster response, recovery and preparedness. It presents six subprojects that involve robot platforms and several component technologies used in conjunction with robots: cyber rescue canines, which are digitally empowered rescue dogs; serpent-like robots for searching debris; serpent-like robots for plant/infrastructure inspection; UAVs for gathering information on large areas struck by disaster; legged robots for plant/infrastructure inspection in risky places; and construction robots for recovery tasks that require both power and precision. The book offers a valuable source of information for researchers, engineers and practitioners in safety, security and rescue robotics, disaster robotics, and plant and infrastructure maintenance. It will also appeal to a wider demographic, including students and academics, as it highlights application scenarios and the total concept for each robot in various scientific and technical contexts.In addition to a wealth of figures and photos that explain these robots and systems, as well as experimental data, the book includes a comprehensive list of published papers from this project for readers to refer to. Lastly, an external website offers video footage and updated information from the International Rescue System Institute.

In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic.It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment

This bookcontains the proceedings of the 10th FSR, (Field and Service Robotics) which isthe leading single-track conference on applications of robotics in challengingenvironments.

This volume presents a collection of papers presented at the 15th International Symposium of Robotic Research (ISRR).

This volume presents a collection of paperspresented at the 16th International Symposium of Robotic Research(ISRR). The ISRR is the longest running seriesof robotics research meetings and dates back to the very earliest days ofrobotics as a research discipline.

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

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