Springer Tracts in Advanced Robotics

Introduction to Autonomous Manipulation

Case Study with an Underwater Robot, SAUVIM

Authors: Marani, Giacomo, Yuh, Junku

  • Top of research in submersible/underwater robotics
  • Written of leading experts in this fiel
  • State of the Art Book
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Hardcover $109.00
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  • ISBN 978-3-642-54612-9
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Softcover $109.00
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  • Due: October 20, 2016
  • ISBN 978-3-662-51813-7
  • Free shipping for individuals worldwide
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About this book

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics.

This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an

d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

Reviews

“The present book is devoted to autonomous manipulation systems … . Every chapter ends with references and at the end of the book a short index is given. After reading this book the reader will be convinced that the intended audience for it consists of control scientists and control engineers as well as graduate and Ph.D. students in the area of advanced robotics.” (Clementina D. Mladenova, Mathematical Reviews, August, 2015)


Table of contents (6 chapters)

  • Introduction

    Marani, Giacomo (et al.)

    Pages 1-6

  • Geometry, Kinematics and Dynamics of Multi-body Systems

    Marani, Giacomo (et al.)

    Pages 7-52

  • Kinematic Control

    Marani, Giacomo (et al.)

    Pages 53-78

  • The SAUVIM Underwater Vehicle-Manipulator System

    Marani, Giacomo (et al.)

    Pages 79-105

  • Target Localization

    Marani, Giacomo (et al.)

    Pages 107-122

Buy this book

eBook $84.99
price for USA (gross)
  • ISBN 978-3-642-54613-6
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.00
price for USA
  • ISBN 978-3-642-54612-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $109.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 20, 2016
  • ISBN 978-3-662-51813-7
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Introduction to Autonomous Manipulation
Book Subtitle
Case Study with an Underwater Robot, SAUVIM
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
102
Copyright
2014
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-54613-6
DOI
10.1007/978-3-642-54613-6
Hardcover ISBN
978-3-642-54612-9
Softcover ISBN
978-3-662-51813-7
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVII, 162
Number of Illustrations and Tables
3 b/w illustrations, 73 illustrations in colour
Topics