%{search_type} search results

• Part A
• Robotics Foundations
• Part B
• Design
• Part C
• Sensing and Perception
• Part D
• Manipulation and Interfaces
• Part E
• Moving in the Environment
• Part F
• Robots at Work
• Part G
• Robots and Humans
• Acknowledgements
• About the Authors
• Subject Index.

The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization's Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook's team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app.

• Computing Cusps of 3R Robots Using Distance Geometry
• Kinematic Mapping of SE(4) and the Hypersphere Condition
• Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator
• The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design
• Impact of Perturbation on Wire Tension Vector
• A Deployable Parallel Wrist with Simple Kinematics
• Geometric Derivation of 6R Linkages with Circular Translation
• Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation
• Some Remarks on the RRR Linkage
• Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator
• Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach
• Non singular Change of Assembly Mode Without any Cusp
• The Influence of Discrete-Time Control on the Kinematic-Static
• Behavior of Cable-Driven Parallel Robot with Elastic Cables
• Derivatives of Screw Systems in Body-fixed Representation
• Sharp Linkages
• Solvable Multi-Fingered Hands for Exact Kinematic Synthesis
• Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot
• Influence of spring characteristics on the behavior of Tensegrity Mechanisms
• Human Motion Kinematics Assessment Using Wearable Sensors
• Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization
• Human Motion Mapping to a Robot Arm with Redundancy Resolution
• Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy
• Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys
• Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots
• Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement
• On the Limitations on the Lower and Upper Tensions for Cable-driven Parallel Robots
• Characterization of the Subsystems in the General Three-System of Screws
• Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators
• Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom
• Points, Lines, Screws and Planes in Dual Quaternions Kinematic
• Recovering Dual Euler Parameters from Feature-based Representation of Motion
• Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine
• Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance
• Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis
• Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications
• Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints
• The Kinematics of Containment
• The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Approximating Constrained Hand Paths via Kinematic Synthesis with Contact Specifications
• Investigation of Error Propagation in Multi-Backbone Continuum Robots
• Kinematics of Expansive Planar Periodic Mechanisms
• From Inverse Kinematics to Optimal Control
• New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators
• Analysis of Constraint Equations and Their Singularities
• Shape Optimized Heliostats for Kinematic Sun Tracking
• Efficient Resolution of Hyper-Redundancy Using Splines
• Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy
• Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator
• On the Kinematics of an Innovative Parallel Robot for Brachytherapy
• Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint
• Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines
• Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program
• Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units
• Motion Capability of the 3-RPS Cube Parallel Manipulator
• Coupling of Trajectories for Human-Robot Cooperative Tasks
• Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator.

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

• Introduction to Robotics (Bruno Siciliano, Oussama Khatib) Part A: Robotics Foundations (David Orin)Chap.
• 1. Kinematics (Ken Waldron, James Schmiedeler)Chap.
• 2. Dynamics (Roy Featherstone, David Orin)Chap.
• 3. Mechanisms and Actuation (Victor Scheinman, Michael McCarthy)Chap.
• 4. Sensing and Estimation (Henrik Christensen, Gregory Hager)Chap.
• 5. Motion Planning (Lydia Kavraki, Steve LaValle)Chap.
• 6. Motion Control (Wankyun Chung, Li-Chen Fu, Su-Hau Hsu)Chap.
• 7. Force Control (Luigi Villani, Joris De Schutter)Chap.
• 8. Robotic Systems Architectures and Programming (David Kortenkamp, Reid Simmons)Chap.
• 9. AI Reasoning Methods for Robotics (Joachim Hertzberg, Raja Chatila) Part B: Robot Structures (Frank Park)Chap.
• 10. Performance Evaluation and Design Criteria (Jorge Angeles, Frank Park)Chap.
• 11. Redundant Manipulators (Stefano Chiaverini, Giuseppe Oriolo, Ian Walker)Chap.
• 12. Parallel Mechanisms and Robots (Jean-Pierre Merlet, Clement Gosselin)Chap.
• 13. Robots with Flexible Elements (Alessandro De Luca, Wayne Book)Chap.
• 14. Model Identification (John Hollerbach, Wisama Khalil, Maxime Gautier, )Chap.
• 15. Robot Hands (Claudio Melchiorri, Makoto Kaneko)Chap.
• 16. Legged Robots (Shuuji Kajita, Bernard Espiau)Chap.
• 17. Wheeled Robots (Guy Campion, Woojin Chung)Chap.
• 18. Micro/Nano Robots (Brad Nelson, Lixin Dong, Fumihito Arai) Part C: Sensing and Perception (Henrik Christensen)Chap.
• 19. Force and Tactile Sensors (Mark Cutkosky, Robert Howe, William Provancher)Chap.
• 20. Inertial Sensors, GPS and Odometry (Gregory Dudek, Michael Jenkin)Chap.
• 21. Sonar Sensing (Lindsay Kleeman, Roman Kuc)Chap.
• 22. Range Sensors (Robert Fisher, Kurt Konolige)Chap.
• 23. 3D Vision and Recognition (Kostas Daniliidis, Jan-Olof Eklundh)Chap.
• 24. Visual Servoing and Visual Tracking (Francois Chaumette, Seth Hutchinson)Chap.
• 25. Sensor Fusion (Hugh Durrant-Whyte, Tom Henderson) Part D: Manipulation and Interfaces (Makoto Kaneko)Chap.
• 26. Motion for Manipulation Tasks (Oliver Brock, James Kuffner, Jing Xiao)Chap.
• 27. Modelling and Manipulation (Imin Kao, Kevin Lynch, Joel Burdick)Chap.
• 28. Grasping (Jeff Trinkle, Domenico Prattichizzo)Chap.
• 29. Cooperative Manipulators (Fabrizio Caccavale, Masaru Uchiyama)Chap.
• 30. Haptics (Blake Hannaford, Allison Okamura)Chap.
• 31. Telerobotics (Gunter Niemeyer, Carsten Preusche, Gerd Hirzinger)Chap.
• 32. Networked Teleoperation (Dezhen Song, Kenneth Goldberg, Nak Young Chong)Chap.
• 33. Exoskeletons for Human Performance Augmentation (Hami Kazerooni) Part E: Mobile and Distributed Robotics (Raja Chatila)Chap.
• 34. Motion Control of Wheeled Mobile Robots (Pascal Morin, Claude Samson)Chap.
• 35. Motion Planning and Obstacle Avoidance (Javier Minguez, Florent Lamiraux, Jean-Paul Laumond)Chap.
• 36. World Modeling (Wolfram Burgard, Martial Hebert)Chap.
• 37. Simultaneous Localization and Mapping (Sebastian Thrun, John Leonard)Chap.
• 38. Behavior-Based Systems (Maja Mataric, Francois Michaud)Chap.
• 39. Distributed and Cellular Robots (Zack Butler, Alfred Rizzi)Chap.
• 40. Multiple Mobile Robot Systems (Lynne Parker)Chap.
• 41. Networked Robots (Vijay Kumar, Daniela Rus, Gaurav Sukhatme) Part F: Field and Service Robotics (Alexander Zelinsky)Chap.
• 42. Industrial Robotics (Martin Hagele, Klas Nilsson, Norberto Pires)Chap.
• 43. Underwater Robotics (Gianluca Antonelli, Thor Inge Fossen, Dana Yoerger)Chap.
• 44. Aerial Robotics (Eric Feron, Eric Johnson)Chap.
• 45. Space Robots and Systems (Kazuya Yoshida, Brian Wilcox)Chap.
• 46. Robotics in Agriculture and Forestry (John Billingsley, Arto Visala, Mark Dunn)Chap.
• 47. Robotics in Construction (Kamel Saidi, Jonathan O'Brien, Alan Lytle)Chap.
• 48. Robotics in Hazardous Applications (James Trevelyan, Sungchul Kang, William Hamel)Chap.
• 49. Mining Robotics (Peter Corke, Jonathan Roberts, Jock Cunningham, David Hainsworth)Chap.
• 50. Search and Rescue Robotics (Robin Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan Erkmen)Chap.
• 51. Intelligent Vehicles (Alberto Broggi, Alexander Zelinsky, Michel Parent, Charles Thorpe)Chap.
• 52. Medical Robots and Systems (Russell Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Dario)Chap.
• 53. Rehabilitation and Health Care Robotics (Machiel van der Loos, David J. Reinkensmeyer)Chap.
• 54. Domestic Robots (Erwin Prassler, Kazuhiro Kosuge)Chap.
• 55. Robots for Education (David Miller, Illah Nourbakhsh, Roland Siegwart) Part G: Human-Centered and Life-Like Robotics (Daniela Rus)Chap.
• 56. Humanoids (Charles Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto)Chap.
• 57. Safety for Physical Human-Robot Interaction (Antonio Bicchi, Michael Peshkin, Edward Colgate)Chap.
• 58. Social Robots that Interact with People (Cynthia Breazeal, Atsuo Takanishi, Tetsunori Kobayashi)Chap.
• 59. Robot Programming by Demonstration (Aude Billard, Sylvain Calinon, Ruediger Dillmann, Stefan Schaal)Chap.
• 60. Biologically-Inspired Robots (Jean-Arcady Meyer, Agnes Guillot)Chap.
• 61. Evolutionary Robotics (Dario Floreano, Phil Husbands, Stefano Nolfi)Chap.
• 62. Neurorobotics: From Vision to Action (Michael Arbib, Giorgio Metta, Patrick van der Smagt)Chap.
• 63. Perceptual Robotics (Heinrich Bulthoff, Christian Wallraven, Martin Giese)Chap.
• 64. Roboethics: Social and Ethical Implications (Gianmarco Veruggio, Fiorella Operto) Subject Index.- About the Authors.
• (source: Nielsen Book Data)

• Introduction (Bruno Siciliano, Oussama Khatib) Part A: Robotics Foundations (David Orin)Part A presents the fundamental principles and methods that are used to model, design, and control a robotic system. All of the foundational topics are included in this part: kinematics, dynamics, mechanical design and actuation, sensing and estimation, motion planning, motion control, force control, robotic systems architectures and programming, and AI reasoning methods for task planning and learning. A chapter is devoted to each of these topics. The topics are expanded and applied to specific robotic structures and systems in subsequent parts. Chap. 1. Kinematics (Ken Waldron, James Schmiedeler)Chap. 2. Dynamics (Roy Featherstone, David Orin)Chap. 3. Mechanisms and Actuation (Victor Scheinman, Michael McCarthy)Chap. 4. Sensing and Estimation (Henrik Christensen, Gregory Hager)Chap. 5. Motion Planning (Lydia Kavraki, Steve LaValle)Chap. 6. Motion Control (Wankyun Chung, Li-Chen Fu, Su-Hau Hsu)Chap. 7. Force Control (Luigi Villani, Joris De Schutter)Chap. 8. Robotic Systems Architectures and Programming (David Kortenkamp, Reid Simmons)Chap. 9. AI Reasoning Methods for Robotics (Joachim Hertzberg, Raja Chatila) Part B: Robot Structures (Frank Park)Part B is concerned with the design, modeling, motion planning, and control of the actual physical realizations of a robot. Some of the more obvious mechanical structures that come to mind are arms, legs, and hands
• to this list can be added wheeled vehicles and platforms, and robot structures at the micro and nano scales. With separate chapters devoted to performance criteria and model identification, the chapters in this part successively examine serial redundant mechanisms, parallel mechanisms, flexible robots, robot hands, robot legs, wheeled robots, and micro- and nanoscale robots.Chap. 10. Performance Evaluation and Design Criteria (Jorge Angeles, Frank Park)Chap. 11. Redundant Manipulators (Stefano Chiaverini, Giuseppe Oriolo, Ian Walker)Chap. 12. Parallel Mechanisms and Robots (Jean-Pierre Merlet, Clement Gosselin)Chap. 13. Robots with Flexible Elements (Alessandro De Luca, Wayne Book)Chap. 14. Model Identification (John Hollerbach, Wisama Khalil, Maxime Gautier, )Chap. 15. Robot Hands (Claudio Melchiorri, Makoto Kaneko)Chap. 16. Legged Robots (Shuuji Kajita, Bernard Espiau)Chap. 17. Wheeled Robots (Guy Campion, Woojin Chung)Chap. 18. Micro/Nano Robots (Brad Nelson, Lixin Dong, Fumihito Arai) Part C: Sensing and Perception (Henrik Christensen)Part C covers different sensory modalities and integration of sensor data across space and time to generate models of robots and the external environment. The main sensor types such as tactile, odometry, GPS, ranging and visual perception are presented. Both basic sensor models, sensor data processing and associated representations are covered. Finally, a chapter on sensor fusion itroduces the mathematical tools needed for integration of sensor information across space and time.Chap. 19. Force and Tactile Sensors (Mark Cutkosky, Robert Howe, William Provancher)Chap. 20. Inertial Sensors, GPS and Odometry (Gregory Dudek, Michael Jenkin)Chap. 21. Sonar Sensing (Lindsay Kleeman, Roman Kuc)Chap. 22. Range Sensors (Robert Fisher, Kurt Konolige)Chap. 23. 3D Vision and Recognition (Kostas Daniliidis, Jan-Olof Eklundh)Chap. 24. Visual Servoing and Visual Tracking (Francois Chaumette, Seth Hutchinson)Chap. 25. Sensor Fusion (Hugh Durrant-Whyte, Tom Henderson) Part D: Manipulation and Interfaces (Makoto Kaneko)Part D is separated into two subparts. The first half is concerned with manipulation where frameworks of modeling, motion planning, and control of grasp and manipulation of an object are addressed, and the second half is concerned with interfaces where physical human-robot interactions are handled. Chap. 26. Motion for Manipulation Tasks (Oliver Brock, James Kuffner, Jing Xiao)Chap. 27. Modelling and Manipulation (Imin Kao, Kevin Lynch, Joel Burdick)Chap. 28. Grasping (Jeff Trinkle, Domenico Prattichizzo)Chap. 29. Cooperative Manipulators (Fabrizio Caccavale, Masaru Uchiyama)Chap. 30. Haptics (Blake Hannaford, Allison Okamura)Chap. 31. Telerobotics (Gunter Niemeyer, Carsten Preusche, Gerd Hirzinger)Chap. 32. Networked Teleoperation (Dezhen Song, Kenneth Goldberg, Nak Young Chong)Chap. 33. Exoskeletons for Human Performance Augmentation (Hami Kazerooni) Part E: Mobile and Distributed Robotics (Raja Chatila)Part E Mobile and Distributed Robotics, covers a wide span. The topics address motion planning and control of wheeled robots with kinematic constraints, perception and world modeling, simultaneous localization and mapping, and the integration of those capacities in a control architecture, as a mobile robot is actually the paradigm of a complex integrated system. In addition, multirobot interaction and systems are developed, including modular and reconfigurable robots as well as networked robotics. Chap. 34. Motion Control of Wheeled Mobile Robots (Pascal Morin, Claude Samson)Chap. 35. Motion Planning and Obstacle Avoidance (Javier Minguez, Florent Lamiraux, Jean-Paul Laumond)Chap. 36. World Modeling (Wolfram Burgard, Martial Hebert)Chap. 37. Simultaneous Localization and Mapping (Sebastian Thrun, John Leonard)Chap. 38. Behavior-Based Systems (Maja Mataric, Francois Michaud)Chap. 39. Distributed and Cellular Robots (Zack Butler, Alfred Rizzi)Chap. 40. Multiple Mobile Robot Systems (Lynne Parker)Chap. 41. Networked Robots (Vijay Kumar, Daniela Rus, Gaurav Sukhatme) Part F: Field and Service Robotics (Alexander Zelinsky)Part F covers topics related to creating field and service application based robots that operate in all types of environments. This includes applications ranging from industrial-robots, through a diverse array of air, land, sea and space applications to educational robotics. This part of the handbook draws on Parts A-E and describes how robots can be put to work. The chapters describe fit for purpose robots and include hardware design, control, perception, and user interfaces. The economic and social drivers for the particular applications are also discussed.Chap. 42. Industrial Robotics (Martin Hagele, Klas Nilsson, Norberto Pires)Chap. 43. Underwater Robotics (Gianluca Antonelli, Thor Inge Fossen, Dana Yoerger)Chap. 44. Aerial Robotics (Eric Feron, Eric Johnson)Chap. 45. Space Robots and Systems (Kazuya Yoshida, Brian Wilcox)Chap. 46. Robotics in Agriculture and Forestry (John Billingsley, Arto Visala, Mark Dunn)Chap. 47. Robotics in Construction (Kamel Saidi, Jonathan O'Brien, Alan Lytle)Chap. 48. Robotics in Hazardous Applications (James Trevelyan, Sungchul Kang, William Hamel)Chap. 49. Mining Robotics (Peter Corke, Jonathan Roberts, Jock Cunningham, David Hainsworth)Chap. 50. Search and Rescue Robotics (Robin Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan Erkmen)Chap. 51. Intelligent Vehicles (Alberto Broggi, Alexander Zelinsky, Michel Parent, Charles Thorpe)Chap. 52. Medical Robots and Systems (Russell Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Dario)Chap. 53. Rehabilitation and Health Care Robotics (Machiel van der Loos, David J. Reinkensmeyer)Chap. 54. Domestic Robots (Erwin Prassler, Kazuhiro Kosuge)Chap. 55. Robots for Education (David Miller, Illah Nourbakhsh, Roland Siegwart) Part G: Human-Centered and Life-Like Robotics (Daniela Rus)Part G covers topics related to creating robots that operate in human-centered environments. This includes the design of robots with humanoid and other biologically inspired morphologies, sensors, actuators, and control architectures. User interfaces such as programming by demonstration and programming for safety are also included in this part. The part concludes with the socio-ethical implications of robots.Chap. 56. Humanoids (Charles Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto)Chap. 57. Safety for Physical Human-Robot Interaction (Antonio Bicchi, Michael Peshkin, Edward Colgate)Chap. 58. Social Robots that Interact with People (Cynthia Breazeal, Atsuo Takanishi, Tetsunori Kobayashi)Chap. 59. Robot Programming by Demonstration (Aude Billard, Sylvain Calinon, Ruediger Dillmann, Stefan Schaal)Chap. 60. Biologically-Inspired Robots (Jean-Arcady Meyer, Agnes Guillot)Chap. 61. Evolutionary Robotics (Dario Floreano, Phil Husbands, Stefano Nolfi)Chap. 62. Neurorobotics: From Vision to Action (Michael Arbib, Giorgio Metta, Patrick van der Smagt)Chap. 63. Perceptual Robotics (Heinrich Bulthoff, Christian Wallraven, Martin Giese)Chap. 64. Roboethics: Social and Ethical Implications (Gianmarco Veruggio, Fiorella Operto) Subject Index.- About the Authors.
• (source: Nielsen Book Data)

Robotics is undergoing a major transformation in scope and dimension. Starting from a predominantly industrial focus, robotics has been rapidly expanding into the challenges of unstructured environments. "The Springer Handbook of Robotics" incorporates these new developments and therefore basically differs from other handbooks of robotics focusing on industrial applications. It presents a widespread and well-structured coverage from the foundations of robotics, through the consolidated methodologies and technologies, up to the new emerging application areas of robotics. The handbook is an ideal resource for robotics experts but also for people new to this expanding field such as engineers, medical doctors, computer scientists, designers; edited by two internationally renowned experts. 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 at the prestigious Stanford University in the USA, President of the International Foundation of Robotics Research, and a recipient of the Japan Robot Association Award in Research and Development.
(source: Nielsen Book Data)

• Introduction to Robotics (Bruno Siciliano, Oussama Khatib) Part A: Robotics Foundations (David Orin)Chap.
• 1. Kinematics (Ken Waldron, James Schmiedeler)Chap.
• 2. Dynamics (Roy Featherstone, David Orin)Chap.
• 3. Mechanisms and Actuation (Victor Scheinman, Michael McCarthy)Chap.
• 4. Sensing and Estimation (Henrik Christensen, Gregory Hager)Chap.
• 5. Motion Planning (Lydia Kavraki, Steve LaValle)Chap.
• 6. Motion Control (Wankyun Chung, Li-Chen Fu, Su-Hau Hsu)Chap.
• 7. Force Control (Luigi Villani, Joris De Schutter)Chap.
• 8. Robotic Systems Architectures and Programming (David Kortenkamp, Reid Simmons)Chap.
• 9. AI Reasoning Methods for Robotics (Joachim Hertzberg, Raja Chatila) Part B: Robot Structures (Frank Park)Chap.
• 10. Performance Evaluation and Design Criteria (Jorge Angeles, Frank Park)Chap.
• 11. Redundant Manipulators (Stefano Chiaverini, Giuseppe Oriolo, Ian Walker)Chap.
• 12. Parallel Mechanisms and Robots (Jean-Pierre Merlet, Clement Gosselin)Chap.
• 13. Robots with Flexible Elements (Alessandro De Luca, Wayne Book)Chap.
• 14. Model Identification (John Hollerbach, Wisama Khalil, Maxime Gautier, )Chap.
• 15. Robot Hands (Claudio Melchiorri, Makoto Kaneko)Chap.
• 16. Legged Robots (Shuuji Kajita, Bernard Espiau)Chap.
• 17. Wheeled Robots (Guy Campion, Woojin Chung)Chap.
• 18. Micro/Nano Robots (Brad Nelson, Lixin Dong, Fumihito Arai) Part C: Sensing and Perception (Henrik Christensen)Chap.
• 19. Force and Tactile Sensors (Mark Cutkosky, Robert Howe, William Provancher)Chap.
• 20. Inertial Sensors, GPS and Odometry (Gregory Dudek, Michael Jenkin)Chap.
• 21. Sonar Sensing (Lindsay Kleeman, Roman Kuc)Chap.
• 22. Range Sensors (Robert Fisher, Kurt Konolige)Chap.
• 23. 3D Vision and Recognition (Kostas Daniliidis, Jan-Olof Eklundh)Chap.
• 24. Visual Servoing and Visual Tracking (Francois Chaumette, Seth Hutchinson)Chap.
• 25. Sensor Fusion (Hugh Durrant-Whyte, Tom Henderson) Part D: Manipulation and Interfaces (Makoto Kaneko)Chap.
• 26. Motion for Manipulation Tasks (Oliver Brock, James Kuffner, Jing Xiao)Chap.
• 27. Modelling and Manipulation (Imin Kao, Kevin Lynch, Joel Burdick)Chap.
• 28. Grasping (Jeff Trinkle, Domenico Prattichizzo)Chap.
• 29. Cooperative Manipulators (Fabrizio Caccavale, Masaru Uchiyama)Chap.
• 30. Haptics (Blake Hannaford, Allison Okamura)Chap.
• 31. Telerobotics (Gunter Niemeyer, Carsten Preusche, Gerd Hirzinger)Chap.
• 32. Networked Teleoperation (Dezhen Song, Kenneth Goldberg, Nak Young Chong)Chap.
• 33. Exoskeletons for Human Performance Augmentation (Hami Kazerooni) Part E: Mobile and Distributed Robotics (Raja Chatila)Chap.
• 34. Motion Control of Wheeled Mobile Robots (Pascal Morin, Claude Samson)Chap.
• 35. Motion Planning and Obstacle Avoidance (Javier Minguez, Florent Lamiraux, Jean-Paul Laumond)Chap.
• 36. World Modeling (Wolfram Burgard, Martial Hebert)Chap.
• 37. Simultaneous Localization and Mapping (Sebastian Thrun, John Leonard)Chap.
• 38. Behavior-Based Systems (Maja Mataric, Francois Michaud)Chap.
• 39. Distributed and Cellular Robots (Zack Butler, Alfred Rizzi)Chap.
• 40. Multiple Mobile Robot Systems (Lynne Parker)Chap.
• 41. Networked Robots (Vijay Kumar, Daniela Rus, Gaurav Sukhatme) Part F: Field and Service Robotics (Alexander Zelinsky)Chap.
• 42. Industrial Robotics (Martin Hagele, Klas Nilsson, Norberto Pires)Chap.
• 43. Underwater Robotics (Gianluca Antonelli, Thor Inge Fossen, Dana Yoerger)Chap.
• 44. Aerial Robotics (Eric Feron, Eric Johnson)Chap.
• 45. Space Robots and Systems (Kazuya Yoshida, Brian Wilcox)Chap.
• 46. Robotics in Agriculture and Forestry (John Billingsley, Arto Visala, Mark Dunn)Chap.
• 47. Robotics in Construction (Kamel Saidi, Jonathan O'Brien, Alan Lytle)Chap.
• 48. Robotics in Hazardous Applications (James Trevelyan, Sungchul Kang, William Hamel)Chap.
• 49. Mining Robotics (Peter Corke, Jonathan Roberts, Jock Cunningham, David Hainsworth)Chap.
• 50. Search and Rescue Robotics (Robin Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan Erkmen)Chap.
• 51. Intelligent Vehicles (Alberto Broggi, Alexander Zelinsky, Michel Parent, Charles Thorpe)Chap.
• 52. Medical Robots and Systems (Russell Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Dario)Chap.
• 53. Rehabilitation and Health Care Robotics (Machiel van der Loos, David J. Reinkensmeyer)Chap.
• 54. Domestic Robots (Erwin Prassler, Kazuhiro Kosuge)Chap.
• 55. Robots for Education (David Miller, Illah Nourbakhsh, Roland Siegwart) Part G: Human-Centered and Life-Like Robotics (Daniela Rus)Chap.
• 56. Humanoids (Charles Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto)Chap.
• 57. Safety for Physical Human-Robot Interaction (Antonio Bicchi, Michael Peshkin, Edward Colgate)Chap.
• 58. Social Robots that Interact with People (Cynthia Breazeal, Atsuo Takanishi, Tetsunori Kobayashi)Chap.
• 59. Robot Programming by Demonstration (Aude Billard, Sylvain Calinon, Ruediger Dillmann, Stefan Schaal)Chap.
• 60. Biologically-Inspired Robots (Jean-Arcady Meyer, Agnes Guillot)Chap.
• 61. Evolutionary Robotics (Dario Floreano, Phil Husbands, Stefano Nolfi)Chap.
• 62. Neurorobotics: From Vision to Action (Michael Arbib, Giorgio Metta, Patrick van der Smagt)Chap.
• 63. Perceptual Robotics (Heinrich Bulthoff, Christian Wallraven, Martin Giese)Chap.
• 64. Roboethics: Social and Ethical Implications (Gianmarco Veruggio, Fiorella Operto) Subject Index.- About the Authors.
• (source: Nielsen Book Data)

• Introduction (Bruno Siciliano, Oussama Khatib) Part A: Robotics Foundations (David Orin)Part A presents the fundamental principles and methods that are used to model, design, and control a robotic system. All of the foundational topics are included in this part: kinematics, dynamics, mechanical design and actuation, sensing and estimation, motion planning, motion control, force control, robotic systems architectures and programming, and AI reasoning methods for task planning and learning. A chapter is devoted to each of these topics. The topics are expanded and applied to specific robotic structures and systems in subsequent parts. Chap. 1. Kinematics (Ken Waldron, James Schmiedeler)Chap. 2. Dynamics (Roy Featherstone, David Orin)Chap. 3. Mechanisms and Actuation (Victor Scheinman, Michael McCarthy)Chap. 4. Sensing and Estimation (Henrik Christensen, Gregory Hager)Chap. 5. Motion Planning (Lydia Kavraki, Steve LaValle)Chap. 6. Motion Control (Wankyun Chung, Li-Chen Fu, Su-Hau Hsu)Chap. 7. Force Control (Luigi Villani, Joris De Schutter)Chap. 8. Robotic Systems Architectures and Programming (David Kortenkamp, Reid Simmons)Chap. 9. AI Reasoning Methods for Robotics (Joachim Hertzberg, Raja Chatila) Part B: Robot Structures (Frank Park)Part B is concerned with the design, modeling, motion planning, and control of the actual physical realizations of a robot. Some of the more obvious mechanical structures that come to mind are arms, legs, and hands
• to this list can be added wheeled vehicles and platforms, and robot structures at the micro and nano scales. With separate chapters devoted to performance criteria and model identification, the chapters in this part successively examine serial redundant mechanisms, parallel mechanisms, flexible robots, robot hands, robot legs, wheeled robots, and micro- and nanoscale robots.Chap. 10. Performance Evaluation and Design Criteria (Jorge Angeles, Frank Park)Chap. 11. Redundant Manipulators (Stefano Chiaverini, Giuseppe Oriolo, Ian Walker)Chap. 12. Parallel Mechanisms and Robots (Jean-Pierre Merlet, Clement Gosselin)Chap. 13. Robots with Flexible Elements (Alessandro De Luca, Wayne Book)Chap. 14. Model Identification (John Hollerbach, Wisama Khalil, Maxime Gautier, )Chap. 15. Robot Hands (Claudio Melchiorri, Makoto Kaneko)Chap. 16. Legged Robots (Shuuji Kajita, Bernard Espiau)Chap. 17. Wheeled Robots (Guy Campion, Woojin Chung)Chap. 18. Micro/Nano Robots (Brad Nelson, Lixin Dong, Fumihito Arai) Part C: Sensing and Perception (Henrik Christensen)Part C covers different sensory modalities and integration of sensor data across space and time to generate models of robots and the external environment. The main sensor types such as tactile, odometry, GPS, ranging and visual perception are presented. Both basic sensor models, sensor data processing and associated representations are covered. Finally, a chapter on sensor fusion itroduces the mathematical tools needed for integration of sensor information across space and time.Chap. 19. Force and Tactile Sensors (Mark Cutkosky, Robert Howe, William Provancher)Chap. 20. Inertial Sensors, GPS and Odometry (Gregory Dudek, Michael Jenkin)Chap. 21. Sonar Sensing (Lindsay Kleeman, Roman Kuc)Chap. 22. Range Sensors (Robert Fisher, Kurt Konolige)Chap. 23. 3D Vision and Recognition (Kostas Daniliidis, Jan-Olof Eklundh)Chap. 24. Visual Servoing and Visual Tracking (Francois Chaumette, Seth Hutchinson)Chap. 25. Sensor Fusion (Hugh Durrant-Whyte, Tom Henderson) Part D: Manipulation and Interfaces (Makoto Kaneko)Part D is separated into two subparts. The first half is concerned with manipulation where frameworks of modeling, motion planning, and control of grasp and manipulation of an object are addressed, and the second half is concerned with interfaces where physical human-robot interactions are handled. Chap. 26. Motion for Manipulation Tasks (Oliver Brock, James Kuffner, Jing Xiao)Chap. 27. Modelling and Manipulation (Imin Kao, Kevin Lynch, Joel Burdick)Chap. 28. Grasping (Jeff Trinkle, Domenico Prattichizzo)Chap. 29. Cooperative Manipulators (Fabrizio Caccavale, Masaru Uchiyama)Chap. 30. Haptics (Blake Hannaford, Allison Okamura)Chap. 31. Telerobotics (Gunter Niemeyer, Carsten Preusche, Gerd Hirzinger)Chap. 32. Networked Teleoperation (Dezhen Song, Kenneth Goldberg, Nak Young Chong)Chap. 33. Exoskeletons for Human Performance Augmentation (Hami Kazerooni) Part E: Mobile and Distributed Robotics (Raja Chatila)Part E Mobile and Distributed Robotics, covers a wide span. The topics address motion planning and control of wheeled robots with kinematic constraints, perception and world modeling, simultaneous localization and mapping, and the integration of those capacities in a control architecture, as a mobile robot is actually the paradigm of a complex integrated system. In addition, multirobot interaction and systems are developed, including modular and reconfigurable robots as well as networked robotics. Chap. 34. Motion Control of Wheeled Mobile Robots (Pascal Morin, Claude Samson)Chap. 35. Motion Planning and Obstacle Avoidance (Javier Minguez, Florent Lamiraux, Jean-Paul Laumond)Chap. 36. World Modeling (Wolfram Burgard, Martial Hebert)Chap. 37. Simultaneous Localization and Mapping (Sebastian Thrun, John Leonard)Chap. 38. Behavior-Based Systems (Maja Mataric, Francois Michaud)Chap. 39. Distributed and Cellular Robots (Zack Butler, Alfred Rizzi)Chap. 40. Multiple Mobile Robot Systems (Lynne Parker)Chap. 41. Networked Robots (Vijay Kumar, Daniela Rus, Gaurav Sukhatme) Part F: Field and Service Robotics (Alexander Zelinsky)Part F covers topics related to creating field and service application based robots that operate in all types of environments. This includes applications ranging from industrial-robots, through a diverse array of air, land, sea and space applications to educational robotics. This part of the handbook draws on Parts A-E and describes how robots can be put to work. The chapters describe fit for purpose robots and include hardware design, control, perception, and user interfaces. The economic and social drivers for the particular applications are also discussed.Chap. 42. Industrial Robotics (Martin Hagele, Klas Nilsson, Norberto Pires)Chap. 43. Underwater Robotics (Gianluca Antonelli, Thor Inge Fossen, Dana Yoerger)Chap. 44. Aerial Robotics (Eric Feron, Eric Johnson)Chap. 45. Space Robots and Systems (Kazuya Yoshida, Brian Wilcox)Chap. 46. Robotics in Agriculture and Forestry (John Billingsley, Arto Visala, Mark Dunn)Chap. 47. Robotics in Construction (Kamel Saidi, Jonathan O'Brien, Alan Lytle)Chap. 48. Robotics in Hazardous Applications (James Trevelyan, Sungchul Kang, William Hamel)Chap. 49. Mining Robotics (Peter Corke, Jonathan Roberts, Jock Cunningham, David Hainsworth)Chap. 50. Search and Rescue Robotics (Robin Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan Erkmen)Chap. 51. Intelligent Vehicles (Alberto Broggi, Alexander Zelinsky, Michel Parent, Charles Thorpe)Chap. 52. Medical Robots and Systems (Russell Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Dario)Chap. 53. Rehabilitation and Health Care Robotics (Machiel van der Loos, David J. Reinkensmeyer)Chap. 54. Domestic Robots (Erwin Prassler, Kazuhiro Kosuge)Chap. 55. Robots for Education (David Miller, Illah Nourbakhsh, Roland Siegwart) Part G: Human-Centered and Life-Like Robotics (Daniela Rus)Part G covers topics related to creating robots that operate in human-centered environments. This includes the design of robots with humanoid and other biologically inspired morphologies, sensors, actuators, and control architectures. User interfaces such as programming by demonstration and programming for safety are also included in this part. The part concludes with the socio-ethical implications of robots.Chap. 56. Humanoids (Charles Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto)Chap. 57. Safety for Physical Human-Robot Interaction (Antonio Bicchi, Michael Peshkin, Edward Colgate)Chap. 58. Social Robots that Interact with People (Cynthia Breazeal, Atsuo Takanishi, Tetsunori Kobayashi)Chap. 59. Robot Programming by Demonstration (Aude Billard, Sylvain Calinon, Ruediger Dillmann, Stefan Schaal)Chap. 60. Biologically-Inspired Robots (Jean-Arcady Meyer, Agnes Guillot)Chap. 61. Evolutionary Robotics (Dario Floreano, Phil Husbands, Stefano Nolfi)Chap. 62. Neurorobotics: From Vision to Action (Michael Arbib, Giorgio Metta, Patrick van der Smagt)Chap. 63. Perceptual Robotics (Heinrich Bulthoff, Christian Wallraven, Martin Giese)Chap. 64. Roboethics: Social and Ethical Implications (Gianmarco Veruggio, Fiorella Operto) Subject Index.- About the Authors.
• (source: Nielsen Book Data)

Robotics is undergoing a major transformation in scope and dimension. Starting from a predominantly industrial focus, robotics has been rapidly expanding into the challenges of unstructured environments. "The Springer Handbook of Robotics" incorporates these new developments and therefore basically differs from other handbooks of robotics focusing on industrial applications. It presents a widespread and well-structured coverage from the foundations of robotics, through the consolidated methodologies and technologies, up to the new emerging application areas of robotics. The handbook is an ideal resource for robotics experts but also for people new to this expanding field such as engineers, medical doctors, computer scientists, designers; edited by two internationally renowned experts. 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 at the prestigious Stanford University in the USA, President of the International Foundation of Robotics Research, and a recipient of the Japan Robot Association Award in Research and Development.
(source: Nielsen Book Data)

This is the fourth of the biennial Experimental Robotics symposia which are designed to bring together, in a small group setting, researchers from around the world who are at the forefront of experimental robotics research. The symposia are designed to provide a forum for the presentation and discussion of research in robotics that focuses on theories and principles which have been experimentally validated. This proceedings volume includes the fifty-five contributions that were selected by the International Program Committee for presentation at the symposium. The contributions represent work in the areas of design, perception, control, planning, and robotic applications and are organized into twelve broadly-defined chapters for ease of reference. Research groups from twelve different countries have contributed to this work.
(source: Nielsen Book Data)

• It's just semantics: How to get robots to understand the world the way we do
• Learning Agile, Vision-Based Drone Flight: From Simulation to Reality
• Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping through Continual Learning
• Efficiently Learning Single-Arm Fling Motions to Smooth Garments
• Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
• Visual Foresight with a Local Dynamics Model.

The proceedings of the 2022 edition of the International Symposium of Robotics Research (ISRR) offer a series of peer-reviewed chapters that report on the most recent research results in robotics, in a variety of domains of robotics including robot design, control, robot vision, robot learning, planning, and integrated robot systems. The proceedings entail also invited contributions that offer provocative new ideas, open-ended themes, and new directions for robotics, written by some of the most renown international researchers in robotics. As one of the pioneering symposia in robotics, ISRR has established some of the most fundamental and lasting contributions in the field since 1983. ISRR promotes the development and dissemination of ground-breaking research and technological innovation in robotics useful to society by providing a lively, intimate, forward-looking forum for discussion and debate about the status and future trends of robotics, with emphasis on its potential role to benefit humans.

• Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs.- Design and Analysis of a Bidirectional NotchJoint for a Robotic Pediatric Neuroendoscope.- A Collaborative Aerial-Ground Robotic Systemfor Fast Exploration.
• (source: Nielsen Book Data)

In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human-robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.
(source: Nielsen Book Data)

• Parallel Robots Modelling and Analysis
• Wire-driven Parallel Robot: Open Issues / Jean-Pierre Merlet
• A New 3-DOF Translational Parallel Manipulator: Kinematics, Dynamics, Workspace Analysis / Pavel Laryushkin, Victor Glazunov
• On the Accuracy of N-1 Wire-driven Parallel Robots / Jean-Pierre Merlet
• Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators / A. Chaker, A. Mlika, M.A. Laribi, L. Romdhane, S. Zeghloul
• Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom / J.I. Ibarreche, Oscar Altuzarra Dr., V. Petuya, A. Hernández, C. Pinto
• Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence / Felix Pasila, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti Castelli
• On the Addition of Degrees of Freedom to Force-balanced Linkage / V. van der Wijk, Just L. Herder.

• Parallel Robots Design, Calibration and Control
• Design Challenges in the Development of Fast Pick-and-place Robots / Jorge Angeles
• A Low Energy Consumption Solar Tracker Based in Parallel Kinematics / Oscar Altuzarra Dr., Iván Seras, Erik Macho, Jokin Aginaga
• Calibration of a Fully-Constrained Parallel Cable-Driven Robot / Julien Alexandre dit Sandretto, David Daney, Marc Gouttefarde
• Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots -- Part 1: Theory / Sébastien Briot, Maxime Gautier
• Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots -- Part 2: Case Study / Sébastien Briot, Maxime Gautier
• On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots / Miguel Díaz-Rodriguez, Vicente Mata, Angel Valera, Sebastian Provenzano.

• Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation / Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger
• A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator / M. Banitalebi Dehkordi, A. Frisoli, E. Sotgiu, M. Bergamasco
• Robot Design
• Portable Posture Guiding System With Visual, Verbal Feedback for Upper Extremity / Wei-Ting Yang, Ke Yeng Tee, I-Ming Chen, Albert Causo, Song Huat Yeo
• An Innovative Actuation Concept for a New Hybrid Robotic System / Basilio Lenzo, A. Frisoli, Fabio Salsedo, M. Bergamasco
• Development of 3-Axis Flexure Stage for Bio-Cellular Experimental Apparatus / Daisuke Matsuura, Chia-Hsiang Menq
• Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color / Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto.

• Design of a New Hand Exoskeleton for Rehabilitation of Post- Stroke Patients / Mohammad Mozaffari Foumashi, Marco Troncossi, Vincenzo Parenti Castelli
• Guidelines for the Design of Multi-finger Haptic Interfaces for the Hand / Florian Gosselin
• Development of Anthropomorphic Soft Robotic Hand WSH-1RII / Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto
• Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head / Takuya Otani, Tatsuhiro Kishi, Przemyslaw Kryczka, Nobutsuna Endo, Kenji Hashimoto
• Robot Control
• Null-Space Impedance Control For Physical Human-Robot Interaction / Luigi Villani PhD, Hamid Sadeghian, Bruno Siciliano
• Wrench Recovery for Wire-Actuated Parallel Manipulators / Leila Notash
• Wrench Recovery of Parallel Manipulators for Full Retrieval of Subtasks / Vahid Nazari, Leila Notash.

• Vibration Control of an Industrial Robot with a Flexible Arm Using IDCS / Kengo Aoki, Gentiane Venture, Yasutaka Tagawa
• Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator / Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori
• Redundancy Resolution of the Underactuated Manipulator / Ambrus Zelei, László Bencsik, László L. Kovács, Gábor Stépán
• Dexterous Manipulation Planning for an Anthropomorphic Hand / Jean-Philippe Saut, Anis Sahbani, Jean-Pierre Gazeau, S. Zeghloul, Philippe Bidaud
• Mobile Robots Design, Modelling and Control
• Angular Momentum Based Controller for Balancing an Inverted Double Pendulum / Morteza Azad, Roy Featherstone
• Analysis and Design of Planar Self-Balancing Double- Pendulum Robots / Roy Featherstone.

• Peristaltic Crawling Robot for Use on the Ground and in Plumbing Pipes / Satoshi Tesen, Norihiko Saga, Toshiyuki Satoh, Jun-ya Nagase
• Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity / R. Lenain, B. Thuilot, N. Bouton, P. Martinet
• On-Line Obstacle Avoidance at High Speeds / Zvi Shiller, Sanjeev Sharma
• Torque Control of a Poly-articulated Mobile Robot During Obstacle Clearance / Pierre Jarrault, Christophe Grand, Philippe Bidaud
• An Approach to the Dynamics of a Vibration-Driven Robot / Felix Becker, Victor Lysenko, Vladimir Minchenya, Igor Zeidis, Klaus Zimmermann
• Humans and Humanoids
• A new Approach to Muscle Fatigue Evaluation for Push/Pull Task / Ruina Ma, Damien Chablat, Fouad Bennis
• Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values / Gentiane Venture, Maxime Gautier.

• Assessment of Physical Exposure to Musculoskeletal Risks in Collaborative Robotics Using Dynamic Simulation / Pauline Maurice, Yvan Measson, Vincent Padois, Philippe Bidaud
• Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method / Kensho Hirasawa, Ko Ayusawa, Yoshihiko Nakamura
• Healthy Subject Testing with the Robotic Gait Rehabilitation (RGR) Trainer / Maciej Pietrusinski, Iahn Cajigas, Paolo Bonato, Constantinos Mavroidis
• Perception
• The ROBOSKIN Project: Challenges and Results / Aude Billard, Annalisa Bonfiglio, Giorgio Cannata, Piero Cosseddu, Torbjorn Dahl
• Modeling Verticality Estimation During Locomotion / Ildar Farkhatdinov, Hannah Michalska, Alain Berthoz, Vincent Hayward
• The Whole-Arm Exploration of Harsh Environments / Francesco Mazzini, Steven Dubowsky
• BIM Based Indoor Navigation System of Hermes Mobile Robot / Barbara Siemiątkowska, Bogdan Harasymowicz-Boggio, Maciej Przybylski
• Overload Protection Mechanism for 6-axis Force/Torque Sensor / Kenji Hashimoto, Teppei Asano, Yuki Yoshimura, Yusuke Sugahara, Hun-Ok Lim.

This book deals with: Parallel robots modeling and analysis; Parallel robots design, calibration and control; Robot design. Robot control; Mobile robots design, modeling and control; Humans and humanoids; and Perception. The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.
(source: Nielsen Book Data)

• Parallel robots modeling and analysis.- Parallel robots design, calibration and control.- Robot design.- Robot control.- Mobile robots design, modeling and control.- Humans and humanoids.- Perception.
• (source: Nielsen Book Data)

This book deals with: Parallel robots modeling and analysis; Parallel robots design, calibration and control; Robot design. Robot control; Mobile robots design, modeling and control; Humans and humanoids; and Perception. The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.
(source: Nielsen Book Data)

• I: Systems.- The Co-Opticon System: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam.- The Tele-Actor System: Collaborative Teleoperation Using Networked Spatial Dynamic Voting.- II: Algorithms.- Exact Frame Selection Algorithms for Agile Satellites.- Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam.- An Approximation Algorithm for the Least Overlapping p-Frame Problem with Non-Partial Coverage for Networked Robotic Cameras.- Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation.- III: Deployment.- Projection Invariants for Pan-Tilt-Zoom Robotic Cameras.- Calibration Algorithms for Panorama-Based Camera Control.- On-Demand Sharing of a High-Resolution Panorama Video from Networked Robotic Cameras.- Conclusions and Future Work.
• (source: Nielsen Book Data)

By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdiss emi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.
(source: Nielsen Book Data)

• Part I. Aerial roots
• Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog
• Experimental Flights of Adaptive Patterns for Clouds Exploration with UAVs
• Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial Vehicles
• CMPCC: Corridor-Based Model Predictive Contouring Control for Aggressive Drone Flight
• Multirotor Docking with an Airborne Platform
• Part II. Design and prototyping
• BAXTER: Bi-Modal Aerial-Terrestrial Hybrid Vehicle for Long-Endurance Versatile Mobility
• Design and Prototyping Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators
• L.U.N.A. -- A Laser-Mapping Unidirectional Navigation Actuator
• Hybrid Wheel-Leg Locomotion in Rough Terrain
• Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular Media
• Toward High Power-to-Weight Ratio Electro-hydrostatic Actuators for Robots
• Ori-Vent: Design and Prototyping of Accessible and Portable Origami-Inspired Ventilators
• Part III. Field robotics
• Towards a Reliable Heterogeneous Robotic Water Quality Monitoring System: An Experimental Analysis
• Experimental Evaluation of a Hierarchical Operating Framework for Ground Robots in Agriculture
• Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions
• Online Soil Classification Using a UAS Sensor Emplacement System
• Simulation, Learning and Control Methods to Improve Robotic Vegetable Harvesting
• Incorporating Noise into Adaptive Sampling
• Part IV. Human-robot interaction
• A New Approach to Estimate the Apparent Mass of Collaborative Robot Manipulators
• A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions
• Towards a Robotically Steerable System for High Dose Rate Brachytherapy
• Kinesthetic Curiosity: Towards Personalized Embodied Learning with a Robot Tutor Teaching Programming in Mixed Reality
• A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities
• Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach
• Part V. Machine learning
• Tactile-Based Self-supervised Pose Estimation for Robust Grasping
• Learning Visual Servo Policies via Planner Cloning
• Sampling Training Data for Continual Learning Between Robots and the Cloud
• Playing with Food: Learning Food Item Representations Through Interactive Exploration
• Data-Driven Design of Energy-Shaping Controllers for Swing-Up Control of Underactuated Robots
• A Recurrent Neural Network Approach to Roll Estimation for Needle Steering
• Part VI. Mapping and localization
• Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves
• Crowd-Driven Mapping, Localization and Planning
• Visual Semantic Mapping and Localization Using Parameterized Road Lanes
• LION: Lidar-Inertial Observability-Aware Navigator for Vision-denied Environments
• The DARPA SubT Urban Circuit Mapping Dataset and Evaluation Metric
• Experimental Validation of Energy-Optimal Turning Radii for Skid-Steer Rovers Part VII. Multi-robots
• Swarm of Inexpensive Heterogeneous Micro Aerial Vehicles
• Sailing a Boat Through a Macroscopic Smart-Fluid Composed of a Robot Swarm
• Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
• Nonlinear Model Predictive Control for Formations of Multi-rotor Micro Aerial Vehicles: An Experimental Approach
• Distributed Heterogeneous Multi-robot Source Seeking Using Information Based Sampling with Visual Recognition
• To Boldly Dive Where No One Has Gone Before: Experiments in Coordinated Robotic Ocean Exploration
• Part VIII. Perception
• Composing Pick-and-Place Tasks by Grounding Language
• Multi-sensory Integration in a Quantum-Like Robot Perception Model
• Probabilistic Representation of Objects and Their support Relations
• MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
• Robust Vision-Based Pose Correction for a Robotic Manipulator Using Active Markers
• Sensing Soft Robot Shape Using IMUs: An Experimental Investigation
• Part IX. Planning and control. Learning to Generate Cost-to-Go Functions for Efficient Motion Planning
• Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots
• RAPID: An Algorithm for Quick Replanning Under Changed Dynamical Constraints
• High-Bandwidth Nonlinear Control for Soft Actuators with Recursive Network Models
• Within-Hand Manipulation Planning and Control for Variable Friction Hands
• Nonprehensile Riemannian Motion Predictive Control
• Correction to: Experimental Robotics.

This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human-robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection.
(source: Nielsen Book Data)

• Session
• 1: Design.- Session
• 1: Design.- The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments.- Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration.- Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm.- Portable Autonomous Vehicle Controller.- Design and Control of a Bio-inspired Human-Friendly Robot.- Session
• 2: Autonomous Driving.- Session
• 2: Autonomous Driving.- Path Planning for Autonomous Driving in Unknown Environments.- Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor.- Efficient Techniques for Dynamic Vehicle Detection.- Comparison of Boosting Based Terrain Classification Using Proprioceptive and Exteroceptive Data.- Session
• 3: Cooperation.- Session
• 3: Cooperation.- Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation.- Maintaining Connectivity in Mobile Robot Networks.- From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots.- Co-ordinated Tracking and Planning Using Air and Ground Vehicles.- Distributed Robotic Radiation Mapping.- Session
• 4: Mini and Micro Robots.- Session
• 4: Mini and Micro Robots.- Visual Tracking for Teams of Miniature Robots.- Small, Fast, and under Control: Wireless Resonant Magnetic Micro-agents.- Visually Servoed Orientation Control of Biological Cells in Microrobotic Cell Manipulation.- Session
• 5: Human Robot Interaction.- Session
• 5: Human Robot Interaction.- A First Investigation into the Teleoperation of a Miniature Rotorcraft.- Toward Socially Assistive Robotics for Augmenting Interventions for Children with Autism Spectrum Disorders.- Teaching Robots via Natural Nonverbal Cues.- The Psychological Effects of Attendance of an Android on Communication.- SHARY: A Supervision System Adapted to Human-Robot Interaction.- Session
• 6: Medical Robotics.- Session
• 6: Medical Robotics.- EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons.- An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium.- Mechanical Response of Embryonic Stem Cells Using Haptics-Enabled Atomic Force Microscopy.- Task-Space Control of Continuum Manipulators with Coupled Tendon Drive.- Session
• 7: Locomotion.- Session
• 7: Locomotion.- Passing under Obstacles with Humanoid Robots.- Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2.- A Physical Model for Dynamical Arthropod Running on Level Ground.- Reliable Dynamic Motions for a Stiff Quadruped.- Bioinspired Jumping Locomotion in Small Robots: Natural Observation, Design, Experiments.- Session
• 8: Localization and Mapping.- Session
• 8: Localization and Mapping.- A Robust Method of Localization and Mapping Using Only Range.- Visual Appearance Mapping for Optimal Vision Based Servoing.- Place Recognition Using Keypoint Similarities in 2D Lidar Maps.- A First-Estimates Jacobian EKF for Improving SLAM Consistency.- Session
• 9: UUVs and UAVs.- Session
• 9: UUVs and UAVs.- Autonomous Autorotation of an RC Helicopter.- Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle.- Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV.- A Boosting Approach to Visual Servo-Control of an Underwater Robot.- Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads.- Session
• 10: Sensing and Planning.- Session
• 10: Sensing and Planning.- Adaptive Full Scan Model for Range Finders in Dynamic Environments.- Empirical Sampling of Path Sets for Local Area Motion Planning.- Motion Strategies for People Tracking in Cluttered and Dynamic Environments.- Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms.- Session
• 11: Vision.- Session
• 11: Vision.- Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing.- Humanoid Vision Resembles Primate Archetype.- Learning to Associate Image Features with CRF-Matching.- Fast Relative Pose Calibration for Visual and Inertial Sensors.- Scale Invariant Detection and Tracking of Elongated Structures.- Session
• 12: Manipulation.- Session
• 12: Manipulation.- Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera.- Coordinated Control and Range Imaging for Mobile Manipulation.- Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control.- Development of a Manipulation Component for a Container Transferring Robot in Living Space.
• (source: Nielsen Book Data)

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
(source: Nielsen Book Data)

• Manipulation.- Vision.- Navigation.- Medical and bio-robotics.- Estimation and mapping.- Field robotics.- Estimation and control.- Navigation.- Estimation and Localization.- Design.- Cooperative Control.- Humanoids.
• (source: Nielsen Book Data)

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 10th ISER held in Rio de Janeiro, July 2006.
(source: Nielsen Book Data)

A major obstacle that prevents humanoid robots from accomplishing real world tasks is their inability to physically interact with, and effectively manipulate, the most common objects generally found in human environments. Even tasks that seem simple for a human remain a significant challenge for most robots. Robots generally employ precision to perform a manipulation task. Humans, in contrast, employ compliance through tactile and force feedback to overcome their imprecision, allowing them to resolve uncertainties associated with the task. The lack of compliance and force control has been indeed a major limiting factor in the ability of robots to interact and manipulate in human environments. One of the major objectives of this research is to endow humanoid robots with whole-body compliant motion abilities. With compliance, a robot overcomes position uncertainties by moving in directions that reduce contact forces, which in turn directs it towards its goal. Whole-body framework was designed to allow the robot to compliantly interact with its environment at multiple contact points. The synthesis of compliant tasks is greatly simplified by being independent of postures and constraints, which are automatically integrated in the control hierarchy. This research focuses on the development of (I) sensor-based whole-body compliant motion primitives, (II) contact sensing and contact force control, (III) whole-body multi-contact for extended support, kneeling, crawling, leaning table, and locomotion strategy to improve support in unstructured terrains, (IV) dynamic collision-free motion planning and (V) dynamic collision-free walking path planning.

• Locomotion.- Haptics.- Manipulation.- Perception.- Human-Robot Interaction.- Mapping and Localization.- Mechanisms.- Perception and Planning.- Sensor Networks.- Many-Robot Systems.- Interactive Presentations.- Plenary Talk.
• (source: Nielsen Book Data)

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-ce ntered robotics.
(source: Nielsen Book Data)

• Aerial Vehicles progress On Pico Air Vehicles.- Perception and Mapping.- Planning.- Systems and Integration.- Control.
• (source: Nielsen Book Data)

This volume presents a collection of papers presented at the 15th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 15th edition took place in Flagstaff, Arizona on December 9 to December 12, 2011. As for the previous symposia, ISRR 2011 followed up on the successful concept of a mixture of invited contributions and open submissions. Therefore approximately half of the 37 contributions were invited contributions from outstanding researchers selected by the IFRR officers and the program committee, and the other half were chosen among the open submissions after peer review. This selection process resulted in a truly excellent technical program which featured some of the very best of robotic research. The program was organized around oral presentation in a single-track format and included for the first time a small number of interactive presentations. The symposium contributions contained in this volume report on a variety of new robotics research results covering a broad spectrum including perception, manipulation, grasping, vehicles and design, navigation, control and integration, estimation and SLAM. .
(source: Nielsen Book Data)