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• 1. Introduction.
• 2. Spatial Transformations.
• 3. Forward Kinematics.
• 4. Inverse Kinematics.
• 5. Velocities, Static Forces, and Jacobians.
• 6. Dynamics.
• 7. Trajectory Planning.
• 8. Mechanical Design of Robots.
• 9. Linear Control.
• 10. Non-Linear Control.
• 11. Force Control.
• 12. Programming Languages and Systems.
• 13. Simulation and Off-Line Programming.
• (source: Nielsen Book Data)

For senior-year or first-year graduate level robotics courses generally taught from the mechanical engineering, electrical engineering, or computer science departments. Since its original publication in 1986, Craig's Introduction to Robotics: Mechanics and Control has been the market's leading textbook used for teaching robotics at the university level. With perhaps one-half of the material from traditional mechanical engineering material, one-fourth control theoretical material, and one-fourth computer science, it covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects, and programming of robots.
(source: Nielsen Book Data)

• Keynotes.- Humanoids.- Human-centered Robotics.- Path Planning and Localization.- SLAM.- Visual Servoing.- Multiple Robots.- Identification and Control.- Design.- Medical Robotics.- Flying Robots.- Manipulation.- Haptics.- Walking Machines.- Field Robotics.
• (source: Nielsen Book Data)

This book is a collection of papers on the state of the art in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines, of which its controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results, pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers in this book were presented at the 2002 International Symposium on Experimental Robotics.
(source: Nielsen Book Data)

• Chapter 1 Introduction 1.1 Introduction to Multi-legged robots1.2 Gait Planning of six-legged robots1.3 Literature Review of legged robot1.3.1 Kinematics of legged robots1.3.2 Dynamics of legged robots1.3.3 Foot-ground contact modeling1.3.4 Foot Force Distribution and power consumption1.3.5 Stability of legged robots1.4 Gaps in Literature1.5 Aims and Objectives1.6 Book Overview1.7 Book's Contributions1.8 Summary
• Chapter 2 Kinematic Modeling and Analysis of Six-Legged Robots 2.1 Description of the Problem2.1.1 Description of Proposed Six-legged Walking Robot2.1.2 Gait Terminologies and their Relationships2.1.3 Steps involved in Proposed Methodology2.2 Analytical Framework2.2.1 Reference system in cartesian coordinates2.2.2 Kinematic constraint equations2.2.3 Inverse Kinematic Model of the six-legged robotic system2.2.4 Terrain model2.2.5 Locomotion planning on varying terrain2.2.5.1 Motion planning for robot's body2.2.5.2 Swing leg trajectory planning2.2.5.3 Foot Slip During Support Phase2.2.6 Gait planning strategy2.2.7 Evaluation of kinematic parameters2.2.8 Estimation of aggregate center of mass2.3 Numerical Simulation: Study of kinematic motion parameters2.3.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)2.3.2 Case Study 2: Crab Motion of the robot on a banked terrain (DF=3/4)2.4 Summary
• Chapter 3 Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots 3.1 Analytical Framework3.1.1 Implicit Constrained Inverse Dynamic Model3.1.2 Newtonian Mechanics with Explicit Constraints 3.1.3 Three Dimensional Contact Force Model 3.1.3.1 Compliant contact-impact model 3.1.3.2 Interactive forces and moments 3.1.3.3 Amonton-Coulomb's friction model 3.1.4 Static Equilibrium Moment Equation 3.1.5 Actuator torque limits 3.1.6 Optimal feet forces' distributions 3.1.7 Energy consumption of a six-legged robot 3.1.8 Stability measures of six-legged robots 3.1.8.1. Statically-stable walking based on ESM, NESM 3.1.8.2. Dynamically stable walking based on DGSM 3.2 Numerical Illustrations 3.2.1 Study of optimal feet forces' distribution 3.2.1.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2) 3.2.1.2 Case Study 2: Crab Motion of the robot on a banked surface (DF=3/4) 3.2.2 Study of performance indices- power consumption and stability measure 3.2.2.1 Effect of trunk body velocity on energy consumption and stability 3.2.2.2 Effect of stroke on energy consumption and stability 3.2.2.3 Effect of body height on energy consumption and stability 3.2.2.4 Effect of leg offset on energy consumption and stability 3.2.2.5 Effect of variable geometry of trunk body on energy consumption and stability 3.2.2.6 Effect of crab angle on energy consumption and stability 3.3 Summary
• Chapter 4 Validation using Virtual Prototyping tools and Experiments 4.1 Modeling using Virtual prototyping tools 4.2 Numerical Simulation and Validation using VP Tools and Experiments 4.2.1. Validation of Kinematic motion parameters 4.2.1.1 Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain 4.2.1.2 Case Study 2: Turning Motion of the robot on a banked surface 4.2.1.3 Case Study 3: Turning Motion of the robot in an uneven terrain 4.2.2. Validation of Dynamic motion parameters 4.2.2.1 Case Study 1: Staircase climbing of the robot with straight-forward motion 4.2.2.2 Case Study 2: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with straight-forward motion 4.2.2.3 Case Study 3: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with Crab Motion motion (DF=1/2) 4.3 Summary
• Chapter 5 Conclusion and Future Work 5.1 Concluding remarks 5.2 Future Work Appendix Appendix A.1 Matrix Projectors Appendix A.2 Loop Equations w.r.t frame G. Appendix A.3 Important Transformation Matrices Appendix A.4 Trajectory Planning of Swing Leg I. Straight-forward and Turning Motion II. Crab Motion Appendix A.5 Time calculations for gait planning I. Calculation of total time taken to complete n-duty cycles II. Calculation of end time for each of the duty cycles Appendix A.6 Kinematic Velocity and Acceleration Appendix A.7 Jacobian Matrices Appendix A.8 Parameters affecting the dynamics of the six-legged robot Appendix A.9 Kinematic constraints with respect to G0 Appendix A.10 Geometrical Interpretation of the interaction region Appendix A.11 Objective function and evaluation of the constraints References List of Publications made by the Scholar.
• (source: Nielsen Book Data)

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton-Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
(source: Nielsen Book Data)

• Chapter 1 - Introduction
• Chapter 2 - Optimization
• Chapter 3 - Spatial representations
• Chapter 4 - Manipulator kinematics
• Chapter 5 - The Manipulator Jacobian
• Chapter 6 - Path and trajectory planning
• Chapter 7 - Dynamics
• Chapter 8 - Structural optimization and stiffness analysis
• Chapter 9 - Kinematic Synthesis.
• (source: Nielsen Book Data)

This book addresses optimization in robotics, in terms of both the configuration space and the metal structure of the robot arm itself; and discusses, describes and builds different types of heuristics and algorithms in MATLAB. In addition, the book includes a wealth of examples and exercises. In particular, it enables the reader to write a MATLAB code for all the related problems in robotics. The book also offers detailed descriptions of and builds from scratch several types of optimization algorithms using MATLAB and simplified methods, especially for inverse problems and avoiding singularities. Each chapter features examples and exercises to enhance the reader's comprehension. Accordingly, the book offers the reader a better understanding of robot analysis from an optimization standpoint.
(source: Nielsen Book Data)

• Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-Redundant Serial Manipulator.- Adapting Multi-Agent Swarm Robotics to Achieve Synchronised Behaviour from Production Line Automata.- Synthesis of Planar Stiffness.- Using Monodromy to Statistically Estimate the Number of Solutions.- On Orientation, Position, and Attitude Singularities of General 3R Chains.- Combinatorics of a Discrete Trajectory Space for Robot Motion Planning.- Active Matter as a Path Planning Interpreter.- Linear registration and robot motion planning.
• (source: Nielsen Book Data)

This book highlights the mathematical depth and sophistication of techniques used in different areas of robotics. Each chapter is a peer-reviewed version of a paper presented during the 2021 IMA Conference on the Mathematics of Robotics, held online September 8-10, 2021. The conference gave a platform to researchers with fundamental contributions and for academic and to share new ideas. The book illustrates some of the current interest in advanced mathematics and robotics such as algebraic geometry, tropical geometry, monodromy and homotopy continuation methods applied to areas such as kinematics, path planning, swam robotics, dynamics and control. It is hoped that the conference and this publications will stimulate further related mathematical research in robotics.
(source: Nielsen Book Data)

• Blue Sky Ideas
• Control
• Human-Robot Interaction
• Learning
• Manipulation
• Perception
• Planning.

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

• A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators.- Stiffness modeling for gravity compensators.- Multi-DOF Counterbalancing and Applications to Robots.- Parallel Elastic Actuator: Variable recruitment of parallel springs for partial gravity compensation.- Optimization and Control of a Cable-driven Robotic Suit for Load Carriage.- Tool Compensation for a Medical Cobot-Assistant.- Design of Statically Balanced Assistive Devices.- Design of Multifunctional Assistive Devices with Various Arrangements of Gravity Compenstion.- Gravity Balancing of Parallel Robots by Constant-Force Generators.
• (source: Nielsen Book Data)

This book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots. The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.
(source: Nielsen Book Data)

• Part I. The EuRoC Project: A General Perspective
• The EuRoC Project: Motivations and Design of the Challenges
• Evaluation and Selection Activities in EuRoC: Innovations and Lessons Learned
• The EuRoC platforms
• Part II: Achievements in Challenge 1: Reconfigurable Interactive Manufacturing Cell
• FLA2IR-FLexible Automotive Assembly with Industrial Co-workers
• Part III: Achievements in Challenge 2: Shop Floor Logistics and Manipulation
• RSAII: Flexible Robotized Unitary Picking in Collaborative Environments for Order Preparation in Distribution Centers
• TIMAIRIS: Autonomous Blank Feeding for Packaging Machines
• Part IV: Achievements in Challenge 3: Plant Servicing and Inspection
• TUM Flyers: Vision--Based MAV Navigation for Systematic Inspection of Structures
• GRVC-CATEC: Aerial Robot Co-worker in Plant Servicing (ARCOW).

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. It describes not only the scientific and technological achievements of the project, but also the potential of the comparative challenge approach in robotics for knowledge advancement and technology transfer.

• Introduction.- Finite and Instantaneous Screw Theory.- Topology and Performance Modeling of Robotic Mechanisms.- Type Synthesis Method and Procedures of Robotic Mechanisms.- Type Synthesis of Mechanisms with Invariable Rotation Axes.- Type Synthesis of Mechanisms with Variable Rotation Axes.- Kinematic Modeling and Analysis of Robotic Mechanisms.- Static Modeling and Analysis of Robotic Mechanisms.- Dynamic Modeling and Analysis of Robotic Mechanisms.- Optimal Design of Robotic Mechanisms.- Synthesis, Analysis and Design of typical robotic mechanisms.- Kinematic Calibration of Robotic Mechanisms.- References.
• (source: Nielsen Book Data)

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
(source: Nielsen Book Data)

New technology is enabling robots to be safer, cheaper, and to work in a wider variety of environments performing new tasks. Robots are starting to work side by side with people--helping doctors, police, fireman, farmers, factory workers, disabled patients, soldiers, cleaners, and warehouse employees. This presents profound new challenges for interaction, emotion, culture, and technology frameworks. Robots can only collaborate with us if they are designed for that purpose with safety, communication, and responsiveness in mind. What you'll learn--and how you can apply it In this lesson you'll learn how to design safety systems for robots, interaction design for human-robot collaboration, testing designs by using robotics platforms, and considerations for future challenges in the design of these robots. This lesson is for you because ... You're an industrial or user experience designer interested in expanding your skillset to include interaction design for collaborative robotics. You're a technologist and you want to learn about interaction design for collaborative robotics as it pertains to future scenarios for your products. Prerequisites None Materials or downloads needed None This Lesson is taken from Designing for Emerging Technologies by Jonathan Follett.

• A. About the Author
• B. Dedication
• C. Acknowledgments
• D. Photo and illustration credits
• E. Introduction
• Robotics: Inspired Technology
• No Better Time to Play with Robots
• Inside Robot Builder's Bonanza
• What You'll Learn
• Expertise You Need
• Beyond Cool
• A. The Art and Science of Robot Building
• 1. Welcome to the Wonderful World of Robotics!
• What the Adventure Holds
• Why Build Robots?
• The Building-Block Approach
• Lower Costs, Better Bots
• Skills You Need
• Do It Yourself, Kits, or Ready-Made?
• Thinking Like a Robot Builder
• 2. Anatomy of a Robot
• Stationary versus Mobile Robots
• Autonomous versus Teleoperated Robots
• Tethered versus Self-Contained Robots
• So, What's a Robot, Anyway?
• The Body of the Robot
• Locomotion Systems
• Power Systems
• Sensing Devices
• Output Devices
• Where the Word "Robot" Comes From
• 3. Getting Parts
• Local Electronics Stores
• Online Electronics Outlets
• Using FindChips.com to Locate Parts
• Specialty Online Robotics Retailers
• Hobby and Model Stores
• Craft Stores
• Hardware and Home Improvement Stores
• Samples from Electronics Manufacturers
• Finding What You Need on the Internet
• Shop Once, Shop Smart
• Haunting the Surplus Store
• Getting Parts from Specialty Stores
• Scavenging: Making Do with What You Already Have
• Getting Organized
• B. Robot Construction
• 4. Safety First (and Always)
• Project Safety
• Battery Safety
• Soldering Safety
• Fire Safety
• Avoiding Damage by Static Discharge
• Working with House Current
• First Aid
• Use Common Sense
• and Enjoy Your Robot Hobby
• 5. Building Robot Bodies
• the Basics
• Picking the Right Construction Material
• In Review: Selecting the Right Material
• Robots from "Found" Parts
• Basic Tools for Constructing Robots
• Optional Tools
• Hardware Supplies
• Setting Up Shop
• 6. Mechanical Construction Techniques
• First Things First: Eye and Ear Protection
• Plan, Sketch, Measure, Mark
• Drilling Holes in Things
• Cutting Things to Size
• Using Portable Power Tools
• Getting Work Done Fast with Air Tools
• 7. Working with Wood
• Hardwood Versus Softwood
• Planks or Ply
• The Woodcutter's Art
• 8. Build a Motorized Wooden Platform
• Making the Base
• Building and Attaching the Motors
• Building and Mounting the Wheels
• Attaching the Ball Caster
• Using the PlyBot
• Variations on a Theme
• 9. Working with Plastic
• Main Kinds of Plastics for Bots
• Best Plastics for Robotics
• Where to Buy Plastic
• The Ins and Outs of Rigid Expanded PVC
• How to Cut Plastic
• How to Drill Plastic
• Making Plastic Bases
• Making Plastic Frames
• How to Bend and Form Plastic
• How to Smooth the Edges of Plastic
• How to Glue Plastic
• Using Hot Glue with Plastics
• How to Paint Plastics
• Household Plastics for Bot Constructions
• 10. Build a Motorized Plastic Platform
• Making the Base
• Attaching the Motors
• Fitting the Wheels
• Attaching the Ball Caster
• Using the PlastoBot
• Altering the PlastoBot Design.

• 11. Working with Metal
• All about Metal for Robots
• Measuring the Thickness of Metal
• What's This about Heat Treatments?
• Where to Get Metal for Robots
• Recap of Metals for Robotics
• Metal from Your Home Improvement Store
• Metal from Craft and Hobby Stores
• The Metalsmith's Art
• 12. Build a Motorized Metal Platform
• Making the Base
• Using the TinBot
• 13. Assembly Techniques
• Screws, Nuts, and Other Fasteners
• Brackets
• Selecting and Using Adhesives
• 14. Rapid Prototyping Methods
• Selecting Lightweight Robot Materials
• Cutting and Drilling Substrate Sheets
• Rapid Construction with Semipermanent Fasteners
• 15. Drafting Bots with Computer-Aided Design
• Making Drilling and Cutting Layouts
• File Formats for Vector Graphics
• Using Laser-Cutting Services
• Producing "Quick-Turn" Metal and Plastic Prototypes
• 16. Constructing High-Tech Robots from Toys
• Erector Sets
• Fischertechnik
• K'NEX
• Other Construction Sets to Try
• Construction with Snap-Together Components
• Specialty Toys for Robot Hacking
• Making Robots from Converted Toy Vehicles
• 17. Building Bots from Found Parts
• A Dozen Ideas to Get You Started
• Experimenting with "No-Cut" Metal Platform Designs
• Using Wood and Plastic Samples
• Keep Your Eyes Peeled and Your Tape Measure Out
• C. Power, Motors, and Locomotion
• 18. All about Batteries
• An Overview of Power Sources
• Batteries for Your Robots
• Understanding Battery Ratings
• Recharging Batteries
• Robot Batteries at a Glance
• Common Battery Sizes
• Increasing Battery Ratings
• 19. Robot Power Systems
• Power and Battery Circuit Symbols
• Using a Premade Battery Pack
• Making Your Own Rechargeable Battery Pack
• Using Battery Cells in a Battery Holder
• Best Battery Placement Practices
• Wiring Batteries to Your Robot
• Preventing Reverse Battery Polarity
• On the Web: How to Solder a Barrel Plug onto a Battery Holder or DC Wall Transformer
• Adding Fuse Protection
• Providing Multiple Voltages
• Regulating Voltage
• Dealing with Power Brownouts
• Battery Voltage Monitors
• 20. Moving Your Robot
• Choosing a Locomotion System
• Locomotion Using Wheels
• Locomotion Using Tracks
• Locomotion Using Legs
• Locomotion Using Other Methods
• On the Web: Managing the Weight of Your Robot
• 21. Choosing the Right Motor
• AC or DC Motor?
• Continuous or Stepping Motor?
• Servo Motors
• Motor Specs
• Testing Current Draw of a Motor
• Dealing with Voltage Drops
• Avoiding Electrical Noise
• 22. Using DC Motors
• The Fundamentals of DC Motors
• Reviewing DC Motor Ratings
• Controlling a DC Motor
• Motor Control by Switch
• Motor Control by Relay
• Motor Control by Bipolar Transistor
• Motor Control by Power MOSFET Transistor
• Motor Control by Bridge Module
• Controlling the Speed of a DC Motor
• Bonus Projects: Interfacing to Motor Bridge Modules
• 23. Using Servo Motors
• How R/C Servos Work
• Control Signals for R/C Servos
• The Role of the Potentiometer
• Special-Purpose Servo Types and Sizes
• Gear Trains and Power Drives
• Output Shaft Bushings and Bearings
• Typical Servo Specs
• Connector Styles and Wiring
• Analog versus Digital Servos
• Electronics for Controlling a Servo
• Using Continuously Rotating Servos
• Modifying a Standard Servo for Continuous Rotation
• Using Servo Motors for Sensor Turrets.

• 24. Mounting Motors and Wheels
• Mounting DC Motors
• Mounting and Aligning Motors with Aluminum Channel
• Mounting R/C Servos
• Mounting Drivetrain Components to Shafts
• Mounting Wheels to DC Gear Motors
• Mounting Wheels to R/C Servos
• Attaching Mechanical Linkages to Servos
• Drivetrain Components for Robotics
• Using Rigid and Flexible Couplers
• Working with Different Shaft Types
• Everything You Always Wanted to Know about Gears
• 25. Robot Movement with Shape Memory Alloy
• Shape Memory Alloy Comes to Robotics
• Basics of Shape Memory Alloy
• Using Shape Memory Alloy
• Operating SMA Using a Microcontroller
• Experimenting with SMA Mechanisms
• Using Ready-Made SMA Mechanisms
• D. Hands-On Robotic Projects
• 26. Build Robots with Wheels and Tracks
• Basic Design Principles of Rolling Robots
• Two-Motor BasicBot
• Bonus Project: Double-Decker RoverBot
• Building 4WD Robots
• Building Tank-Style Robots
• 27. Build Robots with Legs
• An Overview of Leggy Robots
• Selecting the Best Construction Material
• Scratch Build or Parts Kits
• Leg Power
• Walking Gaits for Legged Robots
• Build a 3-Servo Hexapod
• Creating X-Y Servo Joints
• Bonus Project: Build a 12-Servo Hexapod
• 28. Experimenting with Robotic Arms
• The Human Arm
• Degrees of Freedom in a Typical Robotic Arm
• Arm Types
• Actuation Techniques
• Build a Robotic Wrist
• Build a Functional Revolute Coordinate Arm
• Build a Robotic Arm from a Kit
• 29. Experimenting with Robotic Grippers
• Concept of the Basic Gripper
• Two-Pincher Gripper
• Tool Clamp Gripper
• On the Web: More Gripper Plans
• E. Robot Electronics
• 30. Building Robot Electronics
• the Basics
• Tools for Electronics You Should Have
• Making Electronic Circuits
• the Basics
• Understanding Wires and Wiring
• How to Solder
• Using Headers and Connectors
• Using Clip-on Jumpers
• Good Design Principles
• RoHS Demystified
• 31. Common Electronic Components for Robotics
• But First, a Word about Electronics Symbols
• Fixed Resistors
• Potentiometers
• Capacitors
• Diodes
• Light-Emitting Diodes (LEDs)
• Transistors
• Integrated Circuits
• Switches
• Relays
• ... And the Rest
• On the Web: Stocking Up on Parts
• 32. Using Solderless Breadboards
• Anatomy of a Solderless Breadboard
• Steps in Constructing a Solderless Breadboard Circuit
• Making Long-Lasting Solderless Circuits
• Mounting the Breadboard to Your Robot
• Tips for Using a Solderless Breadboard
• 33. Making Circuit Boards
• Overview of Your Primary Circuit Board Options
• Clean It First!
• Making Permanent Circuits on Solder Breadboards
• Using Point-to-Point Perforated Board Construction
• Using Predrilled Stripboards
• Creating Electronic Circuit Boards with PCB CAD
• Producing Arduino-Specific Boards with Fritzing
• On the Web: Etching Your Own Printed Circuit Board
• Using Custom Prototyping Boards
• Making Semipermanent Circuits with Wire Wrapping
• Effective Use of Plug-in Headers
• F. Computers and Electronic Control
• 34. An Overview of Robot "Brains"
• Brains for the Brawn
• Igor, Pull the Switch!
• Brains from Discrete Components
• Programmed Brains
• Of Inputs and Outputs
• 35. Understanding Microcontrollers
• All about Microcontroller Categories
• Microcontroller Shapes and Sizes
• Under the Hood of the Typical Microcontroller Chip
• Microcontroller Programmers
• All about Microcontroller Speed.

• 36. Programming Concepts: The Fundamentals
• Important Programming Concepts
• Understanding Data Types
• Lucky Seven Most Common Programming Statements
• Variables, Expressions, and Operators
• On the Web: More Programming Fundamentals
• G. Microcontroller Brains
• 37. Using the Arduino
• Arduino under the Hood
• Many Variations on a Theme
• Ready Expansion via Shields
• USB Connection and Power
• Arduino Pin Mapping
• Programming the Arduino
• Programming for Robots
• Using Servos
• Creating Your Own Functions
• On the Web: Operating Two Servos
• Flow Control Structures
• Using the Serial Monitor Window
• Some Common Robotic Functions
• Using Switches and Other Digital Inputs
• Interfacing to DC Motors
• 38. Using the PICAXE
• Understanding the PICAXE Family
• Programming the PICAXE
• Core Language Syntax
• PICAXE Functions for Robotics
• Example: Controlling an RC Servo with the PICAXE
• Example: Reading Buttons and Controlling Outputs
• 39. Using the BASIC Stamp
• Inside the BASIC Stamp
• Stamp Alone or Developer's Kit
• Physical Layout of the BS2
• Hooking Up: Connecting the BASIC Stamp to a PC
• Understanding and Using PBasic
• Interfacing Switches and Other Digital Inputs
• Interfacing DC Motors to the BASIC Stamp
• Interfacing RC Servo Motors to the BASIC Stamp
• Additions in PBasic 2.5
• 40. Interfacing Hardware with Your Microcontroller or Computer
• Sensors as Inputs
• Motors and Other Outputs
• Input and Output Architectures
• Interfacing Outputs
• Interfacing Digital Inputs
• Interfacing Analog Input
• Connecting with USB
• Using Analog-to-Digital Conversion
• Using Digital-to-Analog Conversion
• Expanding Available I/O Lines
• Understanding Port Changing
• On the Web: Understanding Bitwise Port Programming
• 41. Remote Control Systems
• Build a Joystick "Teaching Pendant"
• Commanding a Robot with Infrared Remote Control
• On the Web: Control by Radio Signal
• Broadcasting Video
• H. Sensors, Navigation, and Feedback
• 42. Adding the Sense of Touch
• Understanding Touch
• Mechanical Switch
• Using a Button Debounce Circuit
• Debouncing Switches in Software
• Programming for Bumper Contacts
• Mechanical Pressure Sensors
• Experimenting with Piezoelectric Touch Sensors
• Experimenting with Piezo Film
• On the Web: Build a Piezo Bumper Bar
• Other Types of "Touch" Sensors.

• 43. Proximity and Distance Sensing
• Design Overview
• Simple Infrared Light Proximity Sensor
• Modulated Infrared Proximity Detector
• Infrared Distance Measurement
• On the Web: Passive Infrared Detection
• Ultrasonic Distance Measurement
• 44. Robotic Eyes
• Simple Sensors for Robotic Eyes
• Building a One-Cell Cyclops Eye
• Building a Multiple-Cell Robotic Eye
• Using Lenses and Filters with Light-Sensitive Sensors
• Video Vision Systems: An Introduction
• 45. Navigating Your Robot
• Tracing a Predefined Path: Line Following
• Wall Following
• Odometry: Calculating Your Robot's Distance of Travel
• Compass Bearings
• Experimenting with Tilt and Gravity Sensors
• More Navigational Systems for Robots
• 46. Making and Listening to Sound
• Preprogrammed Sound Modules
• Commercial Electronic Sound Effects Kits
• Making Sirens and Other Warning Sounds
• Using a Microcontroller to Produce Sound and Music
• Using Audio Amplifiers
• Sound and Music Playback with a Microcontroller
• Speech Synthesis: Getting Your Robot to Talk
• Listening for Sound
• On the Web: More Sound Projects
• 47. Interacting with Your Creation
• Using LEDs and LED Displays for Feedback
• Feedback via Simple Sounds
• Using LCD Panels
• Robot-Human Interaction with Lighting Effects
• 48. Danger, Will Robinson!
• Flame Detection
• Smoke Detection
• Detecting Dangerous Gas
• Heat Sensing
• Robotic Firefighting Contests
• Finally, Go Out and Do!
• I. RBB Online Support
• You'll Find ...
• Backup Support Site
• Sources for Special Parts, Web Sites
• J. Internet Parts Sources
• Robotics
• Electronics
• Hobby
• Forums and Blogs
• More on the Web!
• K. Mechanical Reference
• Decimal Fractions
• Drill Bit and Tap Sizes
• Imperial
• Drill Bit and Tap Sizes
• Metric
• Numbered and Fractional Inch Drill Bit Comparison
• Fasteners: Standard (Imperial) Threads at a Glance
• Comparison of Decimal Inch, Fractional Inch, Mil, and Gauge
• More on the Web!
• L. Electronic Reference
• Formulas
• Abbreviations
• Letter Symbols Used in Electronics
• Numbering Units in Electronics
• The Six Most Common Units of Measure in Electronics
• Resistor Color Coding
• Wire Gauge.

Presents instructions for more than one hundred robotic projects, describing useful tools, materials, and techniques, along with practical advice on power supply, robot locomotion, arm systems, circuit boards, microcontrollers, and remote control systems.

• Introduction
• Microcontrollers, Single-board computers and development tools
• Building Linux-based overmonitoring systems
• Creating a custom slim Linux distribution
• Example Sensor and Control Applications
• Designing for System Robustness
• Tying it all together--.
• (source: Nielsen Book Data)

In this practical reference, popular author Lewin Edwards shows how to develop robust, dependable real-time systems for robotics and other control applications, using open-source tools. It demonstrates efficient and low-cost embedded hardware and software design techniques, based on Linux as the development platform and operating system and the Atmel AVR as the primary microcontroller. The book provides comprehensive examples of sensor, actuator and control applications and circuits, along with source code for a number of projects. It walks the reader through the process of setting up the Linux-based controller, from creating a custom kernel to customizing the BIOS, to implementing graphical control interfaces. Including detailed design information on: * ESBUS PC-host interface * Host-module communications protocol * A speed-controlled DC motor with tach feedback and thermal cut-off * A stepper motor controller * A two-axis attitude sensor using a MEMS accelerometer * Infrared remote control in Linux using LIRC * Machine vision using Video4Linux.
(source: Nielsen Book Data)

• 1. Introduction
• 2. Neural Networks and Backpropagation
• 3. Convolutional Neural Networks
• 4. Graph Convolutional Networks
• 5. Recurrent Neural Networks
• 6. Deep Reinforcement Learning
• 7. Lightweight Deep Learning
• 8. Knowledge Distillation
• 9. Progressive and Compressive Deep Learning
• 10. Representation Learning and Retrieval
• 11. Object Detection and Tracking
• 12. Semantic Scene Segmentation for Robotics
• 13. 3D Object Detection and Tracking
• 14. Human Activity Recognition
• 15. Deep Learning for Vision-based Navigation in Autonomous Drone Racing
• 16. Robotic Grasping in Agile Production
• 17. Deep learning in Multiagent Systems
• 18. Simulation Environments
• 19. Biosignal time-series analysis
• 20. Medical Image Analysis
• 21. Deep learning for robotics examples using OpenDR.
• (source: Nielsen Book Data)

Deep Learning for Robot Perception and Cognition introduces a broad range of topics and methods in deep learning for robot perception and cognition together with end-to-end methodologies. The book provides the conceptual and mathematical background needed for approaching a large number of robot perception and cognition tasks from an end-to-end learning point-of-view. The book is suitable for students, university and industry researchers and practitioners in Robotic Vision, Intelligent Control, Mechatronics, Deep Learning, Robotic Perception and Cognition tasks.
(source: Nielsen Book Data)

• Intro
• Preface
• Welcome Address from the Founder of RAAD, Jadran Lenarčič
• Contents
• Robot Modeling and Identification
• Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System
• 1 Introduction
• 2 Kinematic Parameters
• 3 Experimental Identification of DH Parameter
• 3.1 Experimental Setup
• 3.2 Results
• 4 Conclusion
• References
• Kinematics of the "Ai-Gerim" Robot Arm
• 1 Introduction
• 2 Direct Kinematics
• 3 Inverse Kinematics
• 4 Conclusion
• References

• Singularity Robust Inverse Kinematics of Serial Manipulators by Means of a Joint Arc Length Parameterization
• 1 Introduction
• 2 Kinematics in Terms of Path Parameter
• 2.1 Forward Kinematics
• 2.2 Inverse Kinematics
• 3 Kinematics in Terms of Arc Length
• 3.1 Arc Length Parameterization
• 3.2 Numerical Solution of the Initial Value Problem
• 4 A Singularity-Consistent Sampling Scheme
• 5 Simulation Results
• 6 Conclusion and Outlook
• References
• Simulation of the Effects of Backlash on the Performance of a Collaborative Robot: A Preliminary Case Study
• 1 Introduction

• 2 Dynamic Model of a UR5 Collaborative Robot
• 2.1 Moto-Reducers
• 2.2 Sensors
• 3 Simulations Results
• 4 Conclusions
• References
• Modeling and Analysis of an S-Shape Link for an Anthropomorphic Robotic Arm
• 1 Introduction
• 2 Problem Formulation
• 3 S-Shape Link Design and Analysis
• 3.1 Discretized Modelling
• 3.2 Augmentation of Compliance Matrix
• 4 Conclusion
• References s
• Parallelized Forward Kinematics Using Product of Exponentials in PyTorch
• 1 Introduction
• 2 Forward Kinematics Using Product of Exponentials
• 3 Parallelization Approach
• 3.1 Vector to so(3)

• 3.2 so(3) to Vector
• 3.3 Vector to se(3)
• 3.4 MatrixExp3
• 3.5 MatrixExp6
• 3.6 Full Product Implementation
• 4 Results
• 5 Conclusion
• References
• Simultaneous Calibration and Stiffness Identification of Flexible Link Robots Using Lumped Parameter Model
• 1 Introduction
• 2 Lumped Parameter Model
• 2.1 Kinematic Model
• 2.2 Dynamic Model
• 3 Parameter Identification
• 4 Results
• 5 Conclusion
• References
• Analysis of the Singularities Influence on the Forward Kinematics Solution and the Geometry of the Workspace of the Gough-Stewart Platform
• 1 Introduction

• 2 Mathematical Model of the Platform
• 3 Analysis of the Singularities Influence on the Forward Kinematics
• 4 Analysis of the Influence of Singularities on the Geometry of the Workspace
• 5 Conclusion
• References
• Perception and Learning
• Structure Synthesis for Extended Robot State Automata
• 1 Introduction
• 2 Related Work
• 3 Marking Formalism
• 4 Algorithms
• 5 Experiments
• 6 Conclusion
• References
• Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying
• 1 Introduction
• 2 Related Work
• 3 Optimization of Kinesthetic Programmed Trajectories

This book presents the proceedings of the 31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), held in Klagenfurt, Austria, June 8-10, 2022. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.

• Chapter 1: Design Synthesis and Implementation of a Dynamic Loading Mechanism for Morphing Winglets.-
• Chapter 2: Towards Modeling Finger Joint Coordination for Natural Motion.-
• Chapter 3: A K-Means Clustering Approach to Segmentation of Maps for Task Allocation in Multi-Robot Systems Exploration of Unknown Environments.
• (source: Nielsen Book Data)

This volume gathers the latest fundamental research contributions, innovations, and applications in the field of design and analysis of complex robotic mechanical systems, machines, and mechanisms, as presented by leading international researchers at the 2nd USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR), held in Rapid City, South Dakota, USA on May 19-21, 2022. It covers highly diverse topics, including soft, wearable and origami robotic systems; applications to walking, flying, climbing, underground, swimming and space systems; human rehabilitation and performance augmentation; design and analysis of mechanisms and machines; human-robot collaborative systems; service robotics; mechanical systems and robotics education; and the commercialization of mechanical systems and robotics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting and impactful research results that will inspire novel research directions and foster multidisciplinary research collaborations among researchers from around the globe.
(source: Nielsen Book Data)

• Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages.- Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian.- Consensus-Based ADMM for Task Assignment in Multi-Robot Teams.- Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications.- Optimally Convergent Trajectories for Navigation.- Introducing PIVOT: Predictive Incremental Variable Ordering Tactic for Efficient Belief Space Planning.- Fast and Fine Manipulation of RBCs in Artificial Capillary and Their Mysterious Behaviors.
• (source: Nielsen Book Data)

This book contains the papers that were presented at the 17th International Symposium of Robotics Research (ISRR). The ISRR promotes the development and dissemination of groundbreaking research and technological innovation in robotics useful to society by providing a lively, intimate, forward-looking forum for discussion and debate about the current status and future trends of robotics with great emphasis on its potential role to benefit humankind. The symposium contributions contained in this book report on a variety of new robotics research results covering a broad spectrum organized into the categories: design, control; grasping and manipulation, planning, robot vision, and robot learning.
(source: Nielsen Book Data)

This book presents the proceedings of the 30th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2021, held in Poitiers, France, 21-23 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
(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)

• Prioritized SIPP Algorithm for Multi-Agent Path Finding Problem with Kinematic Constraints.- DronePort: Smart Drone Battery Management System.- Semantic Segmentation in the Task of Long-Term Visual Localization.- Algorithm for Radio Survey of the Cyber-Physical Systems Operating Areas Using Unmanned Aerial Vehicles.- Step Path Simulation for Quadruped Walking Robot.- The Problem Statement of Cognitive Modeling in Social Robotic Systems.- Adaptive Event Triggered Control of Nonholonomic Mobile Robots.- Development of a Multi-sensor Emotional Response System for Social Robots.- A Technique to Provide an Efficient System Recovery in the Fog- and Edge-environments of Robotic Systems, . Development of Matrix of Combined Force and Proximity Sensors for use in Robotics.- The Efficiency Improvement of Robots Group Operation by Means of Workload Relocation.- Visual Data Processing Framework for a Skin-Based Human Detection.- Classification of Aerial Manipulation Systems and Algorithms for Controlling the Movement of Onboard Manipulator.- "MEOW" - A Social Robot Platform for School.- A Framework to Process Natural Speech in Service Robots using a Combination of a Speech Recognition System, Universal Dependencies Extracted by means of the Stanford Parser and an Expert System.- Prioritizing Tasks within a Robotic Transportation System for a Smart Hospital Environment.- Dedicated Payload Stabilization System in a Service Robot for Catering.- Collision Avoidance for Mobile Robots using Proximity Sensors.- Analysis of Kinematic Diagrams and Design Solutions of Mobile Agricultural Robots.
• (source: Nielsen Book Data)

This book constitutes the proceedings of the 6th International Conference on Interactive Collaborative Robotics, ICR 2021, held in St. Petersburg, Russia, in October 2021. The 19 papers presented were carefully reviewed and selected from 40 submissions. Challenges of human-robot interaction, robot control and behavior in social robotics and collaborative robotics, as well as applied robotic and cyber-physical systems are mainly discussed in the papers.
(source: Nielsen Book Data)