Redundancy in Robot Manipulators and Multi-Robot Systems
Editors: Milutinović, Dejan, Rosen, Jacob (Eds.)
Free Preview- Presents the most recent work on the design of redundant robot systems, their control, performance, human-robot interaction and reliability analysis
- Based on contributions presented at the IROS 2011 Workshop on Redundancy in Robot Manipulators and Multi-Robot Systems, held in Septemebr 2011, San Francisco
- Written by leading experts in the field
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- About this book
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The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics.
This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshop was envisioned as a dialog between researchers from two separate, but obviously related fields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields.
- Reviews
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From the reviews:
“A topic of great interest to the robotics community--multi-robot systems, or redundant robotic systems--is addressed in this book. … The audience for this book is mostly those involved in cutting-edge research. I also recommend it to students who are thinking about a possible topic for their master’s or PhD thesis.” (Ramon Gonzalez Sanchez, ACM Computing Reviews, January, 2013)
- Table of contents (12 chapters)
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Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators
Pages 1-13
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Low-Cost Multi-robot Localization
Pages 15-33
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Using Torque Redundancy to Optimize Contact Forces in Legged Robots
Pages 35-51
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Exploiting Heterogeneity in Robotic Networks
Pages 53-75
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Variational Analysis of Snakelike Robots
Pages 77-91
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Table of contents (12 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Redundancy in Robot Manipulators and Multi-Robot Systems
- Editors
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- Dejan Milutinović
- Jacob Rosen
- Series Title
- Lecture Notes in Electrical Engineering
- Series Volume
- 57
- Copyright
- 2013
- Publisher
- Springer-Verlag Berlin Heidelberg
- Copyright Holder
- Springer-Verlag Berlin Heidelberg
- eBook ISBN
- 978-3-642-33971-4
- DOI
- 10.1007/978-3-642-33971-4
- Hardcover ISBN
- 978-3-642-33970-7
- Softcover ISBN
- 978-3-642-44139-4
- Series ISSN
- 1876-1100
- Edition Number
- 1
- Number of Pages
- VIII, 244
- Topics
