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Springer handbook of robotics: with 1375 figures and 109 tables

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Weitere beteiligte Personen:	Siciliano, Bruno 1959- (HerausgeberIn), Khatib, Oussama 1950- (HerausgeberIn)
Format:	Buch
Sprache:	Englisch
Veröffentlicht:	Berlin ; Heidelberg Springer [2016]
Ausgabe:	2nd edition
Schriftenreihe:	Springer Handbooks
Schlagwörter:	Robotik Aufsatzsammlung
Links:	http://deposit.dnb.de/cgi-bin/dokserv?id=891a96b0eab94d65855e4a0c945cf48e&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029076569&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
Umfang:	LXXVI, 2227 Seiten Illustrationen, Diagramme 27 cm
ISBN:	9783319325507 3319325507

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adam_text	XL Contents List of Abbreviations....................................................................................... 1 Robotics and the Handbook Bruno Siciliano, Oussama Khatib............................................................ 1.1 A Brief History of Robotics.................................................................. 1.2 The Robotics Community..................................................................... 1.3 This Handbook..................................................................................... Video-References.......................................................................................... LXI11 1 1 3 4 5 Part A Robotics Foundations 2 Kinematics Kenneth J. Waldron, James Schmiedeier................................................ 11 2.1 Overview............................................................................................... 12 2.2 Position and Orientation Representation.......................................... 12 2.3 Joint Kinematics................................................................................... 21 2.4 Geometric Representation................................................................... 25 2.5 Workspace............................................................................................ 27 2.6 Forward Kinematics............................................................................. 28 2.7 Inverse Kinematics............................................................................... 29 2.8 Forward Instantaneous Kinematics.................................................... 31 2.9 Inverse Instantaneous Kinematics...................................................... 32 2.10 Static Wrench Transmission................................................................. 33 2.11 Conclusions and Further Reading....................................................... 33 References...................................................................................................... 33 3 Dynamics Roy Featherstone, David E. Orin............................................................... 37 3.1 Overview.............................................................................................. 38 3.2 Spatial Vector Notation ................. 39 3.3 Canonical Equations............................................................................ 45 3.4 Dynamic Models of Rigid-Body Systems............................................. 47 3.5 Kinematic Trees......................................................................... 51 3.6 Kinematic Loops................................................................................... 58 3.7 Conclusions and Further Reading...................................................... 61 References............................................................................................ 63 4 Mechanism and Actuation Victor Scheinman, J. Michael McCarthy, Jae-Bok Song.......................... 67 4.1 Overview.............................................................................................. 68 4.2 System Features .................................................................................. 68 4.3 Kinematics and Kinetics..................................................................... 69 4.4 Serial Robots........................................................................................ 72 4.5 Parallel Robots..................................................................................... 73 4.6 Mechanical Structure........................................................................... 75 4.7 Joint Mechanisms............................................................................... 76 XLIV Contents 4.8 Actuators............................................................................................. 4.9 Robot Performance.............................................................................. 4.10 Conclusions and Further Reading...................................................... Video-References........................................................................................... References....................................................................................................... 5 78 85 87 87 87 Sensing and Estimation Henrik I. Christensen, Gregory D.Hager.................................................... 91 5.1 Introduction.......................................................................................... 91 5.2 The Perception Process......................................................................... 92 5.3 Sensors.................................................................................................. 94 5.4 Estimation Processes............................................................................ 98 5.5 Representations.................................................................................... 109 5.6 Conclusions and Further Readings...................................................... Ill References....................................................................................................... Ill 6 Model Identification John Höllerbach, Wisama Khalil, Maxime Gautier................................. 113 6.1 Overview............................................................................................... 113 6.2 Kinematic Calibration........................................................................... 115 6.3 Inertial Parameter Estimation.............................................................. 122 6.4 Identifiability and Numerical Conditioning............................. 127 6.5 Conclusions and Further Reading....................................................... 135 Video-References........................................................................................... 136 References....................................................................................................... 137 7 Motion Planning Lydia E. Kavraki, Steven M. LaValle......................................................... 139 7.1 Robotics Motion Planning.................................................................... 139 7.2 Motion Planning Concepts................................................................... 140 7.3 Sampling-Based Planning................................................................... 141 7.4 Alternative Approaches........................................................................ 144 7.5 Differential Constraints........................................................................ 148 7.6 Extensions and Variations................................................................... 151 7.7 Advanced Issues................................................................................... 154 7.8 Conclusions and Further Reading........................................................ 157 Video-References........................................................................................... 158 References....................................................................................................... 158 8 Motion Control Wan 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 Kyun Chung, Li-Chen Fu, Torsten Kröger......................................... 163 Introduction to Motion Control............................................................ 164 Joint Space Versus Operational Space Control.................................... 166 Independent-Joint Control.................................................................. 167 PID Control............................................................................................. 169 Tracking Control..................................................................................... 172 Computed-Torque Control................................................................... 174 Adaptive Control............................................. 177 Optimal and Robust Control................................................................ 181 Trajectory Generation and Planning................................................... 183 Digital Implementation........................................................................ 187 Contents 8.11 Learning Control.................................................................................. Video-References.......................................................................................... References..................................................... 9 190 191 191 Force Control Luigi Villani, Joris De Schütter................................................................. 195 9.1 Background.......................................................................................... 195 9.2 Indirect Force Control.......................................................................... 198 9.3 Interaction Tasks.................................................................................. 205 9.4 Hybrid Force/Motion Control............................................................... 211 9.5 Conclusions and Further Reading....................................................... 216 Video-References.......................................................................................... 217 References...................................................................................................... 218 10 Redundant Robots Stefano Chiaverini, Giuseppe Oriolo, Anthony A. Maciejewski............... 221 10.1 Overview.............................................................................................. 221 10.2 Task-Oriented Kinematics.................................................................. 224 10.3 Inverse Differential Kinematics........................................................... 227 10.4 Redundancy Resolution via Optimization......................................... 232 10.5 Redundancy Resolution via Task Augmentation............................... 233 10.6 Second-Order Redundancy Resolution.............................................. 236 10.7 Cyclicity................................................................................................. 237 10.8 Fault Tolerance .................................................................................... 237 10.9 Conclusion and Further Reading........................................................ 239 Video-References.......................................................................................... 239 References...................................................................................................... 240 11 Robots with Flexible Elements Alessandro De Luca, Wayne J. Book......................................................... 243 11.1 Robots with Flexible Joints................................................................ 244 11.2 Robots with Flexible Links................................. 263 Video-References.......................................................................................... 279 References...................................................................................................... 279 12 Robotic Systems Architectures and Programming David Kortenkamp, Reid Simmons, Davide Brugali............................... 283 12.1 Overview............................................................................................. 283 12.2 History................................................................................................. 285 12.3 Architectural Components................................................................. 289 12.4 Case Study - GRACE..... . ........ 296 12.5 The Art of Robot Architectures................... 298 12.6 Implementing Robotic Systems Architectures.................................. 299 12.7 Conclusions and Further Reading..................................................... 302 Video-References.......................................................................................... 302 References..................................................... 302 13 Behavior-Based Systems Francois Michaud, Monica Nicolescu...................................................... 307 13.1 Robot Control Approaches.................................................................. 308 13.2 Basic Principles of Behavior-Based Systems.................................... 310 XLV XLVI Contents 13.3 Basis Behaviors.................................................................................... 13.4 Representation in Behavior-Based Systems....................................... 13.5 Learning in Behavior-Based Systems................................................. 13.6 Applications and Continuing Work...................................................... 13.7 Conclusions and Further Reading....................................................... Video-References............................................................................................ References....................................................................................................... 313 313 314 318 322 322 323 14 Al Reasoning Methods for Robotics Michael Beetz, Raja Chatila, Joachim Hertzberg, Federico Pecora............... 14.1 Why Should a Robot Use Al-Type Reasoning?................................... 14.2 Knowledge Representation and Processing....................................... 14.3 Reasoning and Decision Making........................................................ 14.4 Plan-Based Robot Control................................................................... 14.5 Conclusions and Further Reading....................................................... Video-References............................................................................................ References........................................................................................................ 329 330 330 338 346 351 351 352 15 Robot Learning Jan Peters, Daniel D. Lee, Jens Kober, Day Nguyen-Tuong, J. Andrew Bagnell, Stefan Schaal.................................................................. 15.1 What Is Robot Learning....................................................................... 15.2 Model Learning..................................................................................... 15.3 Reinforcement Learning...................................................................... 15.4 Conclusions............................................................................. Video-References........................................................................................... References........................................................................................................ 357 358 360 372 385 386 386 Part B Design 16 Design and Performance Evaluation Jorge Angeles, Frank C. Park........................................................................... 16.1 The Robot Design Process.................................................................. 16.2 Workspace Criteria................................ 16.3 Dexterity Indices.................................................................................. 16.4 Other PerformanceIndices.................................................................. 16.5 Other Robot Types............................................................................... 16.6 Summary.............................................................................................. References....................................................................................................... 399 400 401 405 408 411 416 416 17 Limbed Systems Shuuji Kajita, Christian Ott............................................................................ 17.1 Design of Limbed Systems.................................................................. 17.2 Conceptual Design............................................................................... 17.3 Whole Design Process Example.......................................................... 17.4 Model Induced Design....................................................................... 17.5 Various Limbed Systems.................................................................... 17.6 Performance Indices....... ................................................................... Video-References........................................................................................... References....................................................................................................... 419 420 420 423 427 434 437 439 440 Contents 18 Parallel Mechanisms Jean-Pierre Merlet, Clement Gosselin, Tian Huang................................ 443 18.1 Definitions.......................................................................................... 443 18.2 Type Synthesis of Parallel Mechanisms............................................. 445 18.3 Kinematics................... 446 18.4 Velocity and Accuracy Analysis.......................................................... 447 18.5 Singularity Analysis............................................................................ 448 18.6 Workspace Analysis............................................................................. 450 18.7 Static Analysis.................................................................................... 451 18.8 Dynamic Analysis................................................................................ 452 18.9 Design..................................... 452 18.10 Wire-Driven Parallel Robots............................................................... 453 18.11 Application Examples......................................................................... 455 18.12 Conclusion and Further Reading................ ....................................... 455 Video-References.......................................................................................... 456 References...................................................................................................... 456 19 Robot Hands Claudio Melchiorri, Makoto Kaneko......................................................... 463 19.1 Basic Concepts.................................................................................... 464 19.2 Design of Robot Hands....................................................................... 465 19.3 Technologies for Actuation and Sensing.......................................... 470 19.4 Modeling and Control of a Robot Hand ............................................ 473 19.5 Applications and Trends.................................................................... 477 19.6 Conclusions and Further Reading...................................................... 478 Video-References.......................................................................................... 478 References...................................................................................................... 479 20 Snake-Like and Continuum Robots Ian D. Walker, Howie Choset,Gregory S. Chirikjian.................................. 481 20.1 Snake Robots - Short History............................................................ 481 20.2 Continuum Robots - Short History..................................................... 485 20.3 Snake-Like and Continuum Robot Modeling.................................... 487 20.4 Modeling of Locomotion for Snake-Like and Continuum Mechanisms.................................................. 491 20.5 Conclusion and Extensions to Related Areas.......... .......................... 492 Video-References.......................................................................................... 492 References....... . ............................................................................................ 493 21 Actuators for Soft Robotics Alin Albu-Schäffer, Antonio Bicchi................................................................ 499 21.1 Background........................ 500 21.2 Soft Robot Design................................................................................. 502 21.3 Modeling Actuators for Soft Robotics................................................. 508 21.4 Modeling Soft Robots.......................................................................... 511 21.5 Stiffness Estimation............................................................................ 513 21.6 Cartesian Stiffness Control......................................................................... 515 21.7 Periodic Motion Control....................................................................... 518 21.8 Optimal Control of Soft Robots........................................................... 521 21.9 Conclusions and Open Problems........................................................ 524 XLVII XLVIII Contents Video-References........................................................................................... References........................................................................................................ 525 526 22 Modular Robots l-Ming Chen, Mark Yim............................................................................. 531 22.1 Concepts and Definitions.................................................................... 531 22.2 Reconfigurable Modular Manipulators............................................... 533 22.3 Self-Reconfigurable Modular Robots................................................. 535 22.4 Conclusion and Further Reading......................................................... 539 Video-References............................................................................................ 540 References........................................................................................................ 540 23 Biomimetic Robots Kyu-Jin Cho, Robert Wood.............................................................................. 23.1 Overview............................................................................................... 23.2 Componentsof Biomimetic Robot Design........................................... 23.3 Mechanisms........................................................................................... 23.4 Material and Fabrication ..................................................................... 23.5 Conclusion............................................................................................ Video-References............................................................................................ References........................................................................................................ 543 544 544 545 561 567 568 570 24 Wheeled Robots Woojin Chung, Karl lagnemma..................................................................... 24.1 Overview.............................................................................................. 24.2 Mobility of Wheeled Robots............................................................... 24.3 Wheeled Robot Structures................................................................. 24.4 Wheel-Terrain Interaction Models.................................................... 24.5 Wheeled Robot Suspensions............................................................. 24.6 Conclusions......................................................................................... Video-References........................................................................................... References....................................................................................................... 575 575 576 582 586 589 592 592 593 25 Underwater Robots Hyun-Taek Choi, Junku Yuh........................................................................... 25.1 Background........................................................................................... 25.2 Mechanical Systems............................................................................. 25.3 Power Systems...................................................................................... 25.4 Underwater Actuators and Sensors.................................................... 25.5 Computers, Communications, and Architecture................................. 25.6 Underwater Manipulators................................................................... 25.7 Conclusions and Further Reading....................................................... Video-References........................................................................................... References....................................................................................................... 595 595 596 599 601 606 614 617 617 618 26 Flying Robots Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus ɪ/ɪ/. Achtelik, David Lentink, Paul Y. Oh, Roland Siegwart.............. 26.1 Background and History...................................................................... 26.2 Characteristics of Aerial Robotics......................................................... 26.3 Basics of Aerodynamics and Flight Mechanics................................... 26.4 Airplane Modeling and Design........................................................... 623 624 625 629 641 Contents 26.5 Rotorcraft Modeling and Design.......................... 26.6 Flapping Wing Modeling and Design................................................ 26.7 System Integration and Realization................................................... 26.8 Applications of Aerial Robots............................................................. 26.9 Conclusions and Further Reading...................................................... Video-References.......................................................................................... References...................................................................................................... 647 653 659 662 666 666 667 27 Micro-ZNanorobots Bradley J. Nelson, Lixin Dong, Fumihito Arai......................................... 671 27.1 Overview of Micro-and Nanorobotics............................................... 671 27.2 Scaling................................................................................................... 674 27.3 Actuation at the Micro-and Nanoscales........................................... 675 27.4 Imaging at the Micro-and Nanoscales.............................................. 676 27.5 Fabrication........................................................................................... 678 27.6 Microassembly...................................................................................... 681 27.7 Microrobotics....................................................................................... 687 27.8 Nanorobotics......................................................................................... 692 27.9 Conclusions.......................................................................................... 704 Video-References.......................................................................................... 704 References...................................................................................................... 705 Part C Sensing and Perception 28 Force and Tactile Sensing Mark R. Cutkosky, William Provancher..................................................... 717 28.1 Overview.............................................................................................. 717 28.2 Sensor Types........................................................................................ 718 28.3 Tactile Information Processing........................................................... 725 28.4 Integration Challenges................................ 730 28.5 Conclusions and FutureDevelopments................................................ 731 Video-References.......................................................................................... 731 References...................................................................................................... 731 29 Inertial Sensing, GPS and Odometry Gregory Dudek, Michael Jenkin............................................................... 737 29.1 Odometry ............................................................................................. 737 29.2 Gyroscopic Systems.............................................................................. 739 29.3 Accelerometers.................................................................................... 742 29.4 IMU Packages....................................................................................... 743 29.5 Satellite-Based Positioning (GPS and GNSS) ..................................... 744 29.6 GPS-IMU Integration........................................................................... 749 29.7 Further Reading.................................................................................. 750 29.8 Currently Available Hardware............................................................. 750 References...................................................................................................... 751 30 Sonar Sensing Lindsay Kleeman, Roman Kuc.................................................................. 753 30.1 Sonar Principles.................................................................................. 754 30.2 Sonar Beam Pattern............................................................................ 756 30.3 Speed of Sound.................................................................................... 758 XLIX Contents 30.4 Waveforms........................................................................................... 30.5 Transducer Technologies..................................................................... 30.6 Reflecting Object Models..................................................................... 30.7 Artifacts................................................................................................ 30.8 TOF Ranging............... . ......................................................................... 30.9 Echo Waveform Coding......... . ............................................................. 30.10 Echo Waveform Processing.................................................................. 30.11 CTFM Sonar........................................................................................... 30.12 Multipulse Sonar................................................................................. 30.13 Sonar Rings and Arrays ....................................................................... 30.14 Motion Effects ..................................................................................... 30.15 BiomimeticSonars.............................................................................. 30.16 Conclusions.................... Video-References........................................................................................... References....................................................................................................... 758 759 760 761 762 765 767 769 772 773 775 778 779 780 780 31 Range Sensing Kurt Konolige, Andreas Nachter............................................................... 783 31.1 Range Sensing Basics......................................................................... 783 31.2 Sensor Technologies.................................................................. 785 31.3 Registration......................................................................................... 794 31.4 Navigation and TerrainClassification and Mapping.......................... 804 31.5 Conclusions and FurtherReading....................................................... 807 References..................................................................................................... 807 32 3-D Vision for Navigation and Grasping Danica Kragic, Kostas Daniilidis............................................................. 811 32.1 Geometric Vision ................................................................................. 812 32.2 3-D Vision for Grasping...................................................................... 820 32.3 Conclusion and Further Reading........................................................ 822 Video-References........................................................................................... 822 References....................................................................................................... 822 33 Visual Object Class Recognition Michael Stark, Bernt Schiele, Ales Leonardis........................................... 825 33.1 Object Classes....................................................................................... 825 33.2 Review of the State of the Art............................................................ 826 33.3 Discussion and Conclusions ................................................................ 837 References....................................................................................................... 838 34 Visual Servoing Francois Chaumette, Seth Hutchinson, Peter Corke................................ 841 34.1 The Basic Components of Visual Servoing.......................................... 842 34.2 Image-Based Visual Servo................................................................... 843 34.3 Pose-Based Visual Servo...................................................................... 851 34.4 Advanced Approaches.......................................................................... 854 34.5 Performance Optimization and Planning.......................................... 856 34.6 Estimation of 3-D Parameters............................................................. 858 34.7 Determining s* and Matching Issues.................................................. 859 34.8 Target Tracking...................................................................................... 859 Contents Eye-in-Hand and Eye-to-Hand Systems Controlled in the Joint Space................................................................... 860 34.10 Under Actuated Robots...................................................................... 34.11 Applications............. ........................................................................... 34.12 Conclusions......................................................................................... Video-References.......................................................................................... References...................................................................................................... 34.9 861 863 863 863 863 35 Multisensor Data Fusion Hugh Durrant-Whyte, Thomas C. Henderson.......................................... 867 35.1 Multisensor Data Fusion Methods....................................................... 867 35.2 Multisensor Fusion Architectures......................................................... 880 35.3 Applications.......................................................................................... 885 35.4 Conclusions.......................................................................................... 889 Video-References.......................................................................................... 889 References...................................................................................................... 890 Part D Manipulation and Interfaces 36 Motion for Manipulation Tasks James Küffner, Jing Xiao........................................................................... 897 36.1 Overview........ ..................................................................................... 898 36.2 Task-Level Control.................................................. 900 36.3 Manipulation Planning....................................................................... 904 36.4 Assembly Motion................................................................................. 911 36.5 Unifying Feedback Control and Planning............................................ 918 36.6 Conclusions and Further Reading................... 920 Video-References.......................................................................................... 923 References...................................................................................................... 923 37 Contact Modeling and Manipulation lmin Kao, Kevin M. Lynch, Joel W. Burdick............................................. 931 37.1 Overview.............................................................................................. 931 37.2 Kinematics of Rigid-Body Contact...................................................... 932 37.3 Forces and Friction.............................................................................. 936 37.4 Rigid-Body Mechanics with Friction................................................... 939 37.5 Pushing Manipulation........................................................................ 942 37.6 Contact Interfaces and Modeling........ ................................................ 943 37.7 Friction Limit Surface........................................................................... 946 37.8 Contacts in Grasping and Fixture Designs. ........................................ 949 37.9 Conclusions and Further Reading....................................................... 950 Video-References.......................................................................................... 951 References...................................................................................................... 951 38 Grasping Domenico Prattichizzo, Jeffrey C. Trinkle.................................................. 955 38.1 Models and Definitions....................................................................... 956 38.2 Controllable Twistsand Wrenches....................................................... 961 38.3 Compliant Grasps................................................................................. 965 38.4 Restraint Analysis................................................................................ 967 LI LH Contents 38.5 Examples.............................................................................................. 38.6 Conclusion and Further Reading........................................................ Video-References........................................................................................... References....................................................................................................... 975 985 986 986 39 Cooperative Manipulation Fabrizio Caccavale, Masaru Uchiyama........................................................... 39.1 Historical Overview.......................... 39.2 Kinematics and Statics........................................................................ 39.3 Cooperative Task Space........................................................................ 39.4 Dynamics and Load Distribution........................................................ 39.5 Task-Space Analysis............................................................................ 39.6 Control.................................................................................................. 39.7 Conclusions and FurtherReading....................................................... Video-References........................................................................................... References....................................................................................................... 989 990 991 995 996 998 999 1003 1004 1004 40 Mobility and Manipulation Oliver Brock, Jaeheung Park, Marc Toussaint.............................................. 40.1 Grasping and Manipulation............................................................... 40.2 Control.................................................................................................. 40.3 Motion Generation............................................................................. 40.4 Learning............................................................................................... 40.5 Perception ........................................................................................... 40.6 Conclusions and FurtherReading....................................................... Video-References........................................................................................... References....................................................................................................... 1007 1009 1013 1017 1021 1025 1029 1029 1030 41 Active Manipulation for Perception Anna Petrovskaya, Kaijen Hsiao..................................................................... 41.1 Perception via Manipulation............................................................. 41.2 Object Localization............................................................................. 41.3 Learning About an Object................................................................... 41.4 Recognition......................................................................................... 41.5 Conclusions......................................................................................... Video- References........................................................................................... References....................................................................................................... 1037 1037 1038 1049 1054 1057 1058 1058 42 Haptics Blake Hannaford, Allison M. Okamura......................................................... 42.1 Overview............................................................................................. 42.2 Haptic Device Design.......................................................................... 42.3 Haptic Rendering................................................................................ 42.4 Control and Stability of Force Feedback Interfaces.......................... 42.5 Other Types of Haptic Interfaces........................................................ 42.6 Conclusions and Further Reading..................................................... References....................................................................................................... 1063 1064 1068 1071 1073 1075 1079 1079 43 Telerobotics Günter Niemeyer, Carsten Preusche, Stefano Stramigioli, Dongjun Lee...... 43.1 Overview and Terminology................................................................. 1085 1085 Contents 43.2 Telerobotic Systems and Applications............................................... 43.3 Control Architectures.......................................................................... 43.4 Bilateral Control and Force Feedback................................................ 43.5 Emerging Applications of Telerobotics............................................... 43.6 Conclusions and Further Reading...................................................... Video-References.......................................................................................... References...................................................................................................... 1087 1090 1095 1101 1104 1104 1105 44 Networked Robots Dezhen Song, Ken Goldberg, Nak-Young Chong..................................... 1109 44.1 Overview and Background................................................................. 1109 44.2 A Brief History.................................................................................... 1110 44.3 Communications and Networking.................................................... 1112 44.4 Properties of Networked Robots....................................................... 1115 44.5 Cloud Robotics.................................................................................... 1121 44.6 Conclusion and Future Directions..................................................... 1125 Video-References.......................................................................................... 1126 References...................................................................................................... 1126 Part E Moving in the Environment 45 World Modeling Wolfram Burgard, Martial Hebert, Maren Bennewitz............................. 1135 45.1 Historical Overview............................................................................. 1136 45.2 Models for Indoors and Structured Environments............................ 1137 45.3 World and Terrain Models for Natural Environments....................... 1141 45.4 Dynamic Environments...................................................................... 1149 45.5 Summary and Further Reading.......................................................... 1149 Video-References.......................................................................................... 1150 References...................................................................................................... 1150 46 Simultaneous Localization and Mapping Cyrill Stachniss, John J. Leonard, Sebastian Thrun................................ 1153 46.1 SLAM: Problem Definition................................................................... 1154 46.2 The Three Main SLAM Paradigms....................................................... 1157 46.3 Visual and RGB-D SLAM...................................................................... 1166 46.4 Conclusion and Future Challenges..................................................... 1169 Video-References.......................................................................................... 1170 References...................................................................................................... 1171 47 Motion Planning and Obstacle Avoidance Javier Minguez, Florant Lamiraux,Jean-Paul Laumond......................... 1177 47.1 Nonholonomic Mobile Robots: Where Motion Planning Meets Control Theory.......................................................................... 1178 47.2 Kinematic Constraints and Controllability......................................... 1179 47.3 Motion Planning and Small-Time Controllability............................. 1180 47.4 Local Steering Methods and Small-Time Controllability................... 1181 47.5 Robots and Trailers............................................................................. 1184 47.6 Approximate Methods....................................................................... 1186 47.7 From Motion Planning to Obstacle Avoidance................................. 1187 Lill LIV Contents 47.8 Definition of Obstacle Avoidance....................................................... 47.9 Obstacle Avoidance Techniques.......................................................... 47.10 Robot Shape, Kinematics, and Dynamics in Obstacle Avoidance.... 47.11 Integration Planning - Reaction......................................................... 47.12 Conclusions, Future Directions, and Further Reading...................... Video-References............................................................................................ References....................................................................................................... 48 Modeling and Control of Legged Robots Pierre-Brice Wieber, Russ Tedrake, Scott Kuindersma.................................. 48.1 A Brief History of Legged Robots........................................................ 48.2 The Dynamics of Legged Locomotion................................................ 48.3 Stability Analysis - Not Falling Down................................................ 48.4 Generation of Dynamic Walking and Running Motions................... 48.5 Motion and Force Control.................................................................... 48.6 Towards More Efficient Walking......................................................... 48.7 Different Contact Behaviors................................................................. 48.8 Conclusion........................................................................................... References........................................................................................................ 1187 1188 1194 1196 1198 1199 1199 1203 1204 1204 1209 1214 1222 1225 1227 1228 1228 49 Modeling and Control of Wheeled Mobile Robots Claude Samson, Pascal Morin, Roland Lenain.............................................. 1235 49.1 Background........................................................................................... 1236 49.2 Control Models...................................................................................... 1238 49.3 Adaptation of Control Methods for Holonomic Systems.................... 1240 49.4 Methods Specific to Nonholonomic Systems...................................... 1241 49.5 Path Following in the Case of Nonideal Wheel-Ground Contact.... 1255 49.6 Complementary Issues and Bibliographical Guide............................ 1261 Video-References........................................................................................... 1263 References....................................................................................................... 1263 50 Modeling and Control of Robots on Rough Terrain Keiji Nagatani, Genya Ishigami, Yoshito Okada.......................................... 50.1 Overview............................................................................................... 50.2 Modeling of Wheeled Robot in Rough Terrain................................... 50.3 Control of Wheeled Robot in Rough Terrain....................................... 50.4 Modeling of Tracked Vehicle on Rough Terrain........ .......................... 50.5 Stability Analysis of Tracked Vehicles................................................. 50.6 Control of Tracked Vehicle on Rough Terrain..................................... 50.7 Summary.............................................................................................. Video-References............................................................................ References....................................................................................................... 1267 1268 1270 1274 1276 1278 1279 1281 1281 1282 51 Modeling and Control of Underwater Robots Gianluca Antonelli, Thor I. Fassen, Dana R. Yoerger.................................. 51.1 The Expanding Role of Marine Robotics in Oceanic Engineering.... 51.2 Underwater Robotics...................................... 51.3 Applications.......................................................................................... 51.4 Conclusions and Further Reading...................................................... Video-References........................................................................................... References...................................................................................................... 1285 1285 1287 1302 1303 1304 1304 Contents 52 Modeling and Control of Aerial Robots Robert Mahony, Randal W. Beard, Vijay Kumar..................................... 1307 52.1 Overview............................................................................................. 1307 52.2 Modeling Aerial Robotic Vehicles ................................. 1309 52.3 Control.................................... 1316 52.4 Trajectory Planning............................................................... 1324 52.5 Estimating the Vehicle State.............................................................. 1328 52.6 Conclusion.......................................................................................... 1330 Video-References........................................................................ 1331 References...................................................................................................... 1331 53 Multiple Mobile Robot Systems Lynne E. Parker, Daniela Rus, GauravS.Sukhatme................................. 1335 53.1 History.................................................................................................. 1336 53.2 Architectures for Multirobot Systems.................................................. 1337 53.3 Communication........................................................................... 1339 53.4 Networked Mobile Robots.................................................................. 1340 53.5 Swarm Robots..................................................................................... 1351 53.6 Modular Robotics................................................................................ 1354 53.7 Heterogeneity...................................................................................... 1357 53.8 Task Allocation..................................................................................... 1359 53.9 Learning............................................................................................... 1361 53.10 Applications................................................... 1362 53.11 Conclusions and Further Reading...................................................... 1366 Video-References.......................................... 1366 References...................................................................................................... 1367 Part F Robots at Work 54 Industrial Robotics Martin Hagele, Kias Nilsson, J. Norberto Pires, Rainer Bischojf............ 1385 54.1 Industrial Robotics: The Main Driver for Robotics Research and Application.................................................................................. 1386 54.2 A Short History of Industrial Robots................................................... 1386 54.3 Industrial Robot Kinematics................................................................ 1392 54.4 Typical Industrial Robot Applications................................................. 1393 54.5 Safe Human-Robot Collaboration ...................................................... 1405 54.6 Task Descriptions - Teaching and Programming................................ 1409 54.7 System Integration............................................................................. 1414 54.8 Outlook and Long-Term Challenges................................................. 1416 Video-References.......................................................................................... 1418 References...................................................................................................... 1418 55 Space Robotics Kazuya Yoshida, Brian Wilcox,Gerd Hirzinger, Roberto Lampariello.......... 55.1 Historical Developments and Advances of Orbital Robotic Systems. 55.2 Historical Developments and Advances of Surface Robotic Systems. 55.3 Mathematical Modeling............................................................ 1437 55.4 Future Directions of Orbital and Surface Robotic Systems................ 55.5 Conclusions and Further Reading........................................... 1457 1423 1424 1430 1452 LV LVI Contents Video-References........................................................................................... References....................................................................................................... 56 Robotics in Agriculture and Forestry Marcel Bergerman, JohnBillingsley, John Reid, Eldert van Henten................ 56.1 Section Scope...................................................................................... 56.2 Challenges andOpportunities............................................................. 56.3 Case Studies......................................................................................... 56.4 Conclusion........................................................................................... Video-References........................................................................................... References................................................ 57 Robotics in Construction Kamel S. Saidi, Thomas Bock, Christos Georgoulas...................................... 57.1 Overview............................................................................................. 57.2 Offsite Applications of Robotics in Construction.............................. 57.3 Onsite Applications of Single Task Construction Robots.................. 57.4 Integrated Robotized Construction Sites........................................... 57.5 Currently Unsolved Technical Problems............................................ 57.6 Future Directions................................................................................ 57.7 Conclusions and Further Reading..................................................... Video-References........................................................................................... References....................................................................................................... 58 Robotics in Hazardous Applications James Trevelyan, William R.Hamel,Sung-Chui Kang..................................... 58.1 Operation in HazardousEnvironments: The Need for aRoboticsSolution......................................................... 58.2 Applications.......................................................................................... 58.3 Enabling Technologies.......... .............................................................. 58.4 Conclusions and Further Reading....................................................... Video-References........................................................................................... References....................................................................................................... 1457 1458 1463 1464 1465 1467 1487 1488 1489 1493 1494 1499 1504 1511 1514 1516 1516 1517 1517 1521 1521 1523 1537 1544 1545 1546 59 Robotics in Mining Joshua A. Marshall, Adrian Bonchis, Eduardo Nebot, Steven Scheding.... 1549 59.1 Modern Mining Practice.............................................................. 1550 59.2 Surface Mining............................................................................ 1552 59.3 Underground Mining.................................................................. 1562 59.4 Challenges and Industry Acceptance ................................................ 1568 59.5 Challenges, Outlook, and Conclusion........................................ 1569 Video-References........................................................................................... 1571 References....................................................................................................... 1572 60 Disaster Robotics Robin R. Murphy, SatoshiTadokoro, Alexander Kleiner....... ........................ 1577 60.1 Overview.............................................................................................. 1578 60.2 Disaster Characteristics and Impact on Robots......................... 1581 60.3 Robots Actually Used at Disasters....................................................... 1582 60.4 Robots at the Fukushima-Daiichi Nuclear Power Plant Accident ... 1588 60.5 Lessons Learned, Challenges, and Novel Approaches............. 1591 Contents 60.6 Evaluation ........................................................................................... 60.7 Conclusions and Further Reading...................................................... Video-References.......................................................................................... References...................................................................................................... 1598 1600 1601 1601 61 Robot Surveillance and Security Wendell H. Chun, Nikolaos Papanikolopoulos....................................... 1605 61.1 Overview.............................................................................................. 1605 61.2 Application Domains........................................................................... 1607 Enabling Technologies............................................................................. 1608 61.4 Active Research........ ........................................................................... 61.5 Conclusion........................................................................................... Video-References.......................................................................................... References...................................................................................................... 1617 1622 1623 1623 62 Intelligent Vehicles Alberto Broggi, Alex Zelinsky, Ümit Özgüner, Christian Laugier................. 62.1 The Motivation and Approaches to Intelligent Vehicles.................. 62.2 Enabling Technologies....................................................................... 62.3 Road Scene Understanding................................................................ 62.4 Advanced Driver Assistance............................................................... 62.5 Driver Monitoring................................................................................ 62.6 Towards Fully Autonomous Vehicles ............................................... 62.7 Future Trends and Prospects............................................................. 62.8 Conclusions and Further Reading..................................................... Video-References....................... References...................................................................................................... 1627 1628 1632 1635 1639 1645 1647 1650 1651 1651 1652 63 Medical Robotics and Computer-Integrated Surgery Russell H. Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Fiorini, Paolo Dario.................................................................................................... 63.1 Core Concepts..................................................................................... 63.2 Technology....................................................................................... 63.3 Systems, Research Areas, andApplications ....................................... 63.4 Conclusion and FutureDirections........................................................ Video-References.......................................................................................... References...................................................................................................... 1657 1658 1662 1667 1675 1676 1676 64 Rehabilitation and Health Care Robotics H.F. Machiel Van der Loos, David J. Reinkensmeyer, Eugenio Guglielmelli. 64.1 Overview............................................................................................. 64.2 Rehabilitation Therapy and Training Robots.................................... 64.3 Aids for People with Disabilities....................................................... 64.4 Smart Prostheses and Orthoses......................................................... 64.5 Augmentation for Diagnosis and Monitoring................................... 64.6 Safety, Ethics, Access and Economics................................................ 64.7 Conclusions and Further Readings.................................................... Video-References.......................................................................................... References...................................................................................................... 1685 1686 1692 1703 1711 1713 1715 1716 1717 1718 61.3 LVII Will Contents 65 Domestic Robotics Erwin Prassler, Mario E. Munich, Paolo Pirjanian, Kazuhiro Kosuge........ 65.1 Mobile Domestic Robotics............................................................... 65.2 Enabling Technologies..................................................................... 65.3 Smart Homes................................................................................... Video-References........................................................................................ References................................................................................................... 1729 1730 1747 1754 1757 1757 66 Robotics Competitions and Challenges Daniele Nardi, Jonathan Roberts, Manuela Veloso, Luke Fletcher 66.1 Introduction..................................................................................... 66.2 Overview....................................................................... 66.3 Competitions Inspired by Human Competitions............................. 66.4 Task-Oriented Competitions............................................................ 66.5 Conclusion and Further Reading..................................................... Video-References........................................................................................ References................................................................................................... 1759 1760 1760 1762 1769 1780 1781 1781 Part G Robots and Humans 67 Humanoids Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida.................................................................... 67.1 Why Humanoids?....................................................... 67.2 History................................................................................ 67.3 What to Immitate?.......................................................................... 67.4 Locomotion...................................................................................... 67.5 Whole-Body Activities.................................................................... 67.6 Morphological Communication........................................................ 67.7 Conclusions and FurtherReading..................................................... Video-References....................................................................................... References................................................................................................... 1789 1789 1792 1794 1795 1801 1809 1813 1813 1813 68 Human Motion Reconstruction Katsu Yamane, Wataru Takano.................................................................... 68.1 Overview........................................................................................... 68.2 Models and Computations................................................................ 68.3 Reconstruction for Understanding................................................... 68.4 Reconstruction for Robots................................................................ Video-References....................................................................................... References................................................................................................... 1819 1819 1820 1825 1829 1830 1831 69 Physical Human-Robot Interaction Sami Haddadin, Elizabeth Croft.................................................................. 69.1 Classification..................................................................................... 69.2 Human Safety.................................................................................... 69.3 Human-Friendly Robot Design......................................................... 69.4 Control for Physical Interaction ........................................................ 69.5 Motion Planning for Human Environments...................................... 69.6 Interaction Planning......................................................................... 1835 1836 1839 1847 1853 1859 1862 Contents 69.7 Conclusions and Challenges............................................................... Video-References.......................................................................................... References...................................................................................................... 1867 1868 1869 70 Human-Robot Augmentation Massimo Bergamasco, Hugh Herr.................................................................. 70.1 Concept and Definitions..................................................................... 70.2 Upper Limb Wearable Systems ........................................................... 70.3 Lower Limb Wearable Systems......................................................... 70.4 Whole Body Wearable Systems........................................................... 70.5 Control of Human-Robot Augmentation Systems............................ 70.6 Conclusions and Further Developments............................................ Video-References..................... References...................................................................................................... 1875 1876 1877 1882 1889 1892 1902 1902 1902 71 Cognitive Human-Robot Interaction Bilge Mutlu, Nicholas Roy, Selma Sabanovic................................................ 71.1 Human Models of Interaction............................................................ 71.2 Robot Models of Interaction............................................................... 71.3 Models of Human-Robot Interaction................................................ 71.4 Conclusion and Further Reading....................................................... Video-References.......................................................................................... References...................................................................................................... 1907 1908 1914 1916 1927 1927 1928 72 Social Robotics Cynthia Breazeal, Kerstin Dautenhahn, Takayuki Kanda............................. 72.1 Overview.............................................................................................. 72.2 Social Robot Embodiment................................................................... 72.3 Social Robots and Social-Emotional Intelligence.............................. 72.4 Socio-Cognitive Skills.......................................................................... 72.5 Human Social Responses to Social Robots.......................................... 72.6 Social Robots and Communication Skills........................................... 72.7 Long-Term Interaction with Robot Companions................................ 72.8 Tactile Interaction with Social Robots............................. 72.9 Social Robots and Teamwork.............................................................. 72.10 Conclusion........................................................................................... 72.11 Further Reading................................................................................... Video-References.......................................................................................... References...................................................................................................... 1935 1936 1936 1938 1941 1944 1946 1950 1954 1958 1959 1960 1960 1961 73 Socially Assistive Robotics Maja J. Mataric, Brian Scassellati.................................................................. 73.1 Overview............................................................................................. 73.2 The Need for Socially Assistive Robotics.............................. 73.3 Advantages of Embodied Robots over Virtual Agents...................... 73.4 Motivation, Autonomy, and Companionship.................................... 73.5 Influence and the Dynamics of Assistive Interaction........................ 73.6 Personalization and Adaptation to Specific Needs and Abilities.... 73.7 Creating Long-Term Engagement and Behaviour Change................ 73.8 SAR for Autism Spectrum Disorder (ASD) Therapy............................. 73.9 SAR Supporting Rehabilitation.......................................................... 1973 1973 1974 1975 1977 1978 1978 1979 1980 1982 LIX LX Contents 73.10 SAR and Eldercare............................................................................... 73.11 SAR for Alzheimer s Dementia and Cognitive Rehabilitation.......... 73.12 Ethical and Safety Considerations...................................................... References....................................................................................................... 1985 1986 1987 1988 74 Learning from Humans Aude 6. Billard, Sylvain Calinon,Rüdiger Dillmann...................................... 74.1 Learning of Robots............................................................................. 74.2 Key Issues When Learning from Human Demonstrations................ 74.3 Interfaces for Demonstration.............................................................. 74.4 Algorithms to Learn from Humans..................................................... 74.5 Conclusions and OpenIssues in Robot LfD......................................... Video-References........................................................................................... References....................................................................................................... 1995 1995 1998 2000 2002 2008 2009 2009 75 Biologically Inspired Robotics Fumiya Iida, Auke Janljspeert................................................................... 2015 75.1 General Background............................................................................. 2016 75.2 Methodology......................................................................................... 2017 75.3 Case Studies.......................................................................................... 2021 75.4 Landscape ofBio-Inspired Robotics Research and Challenges......... 2026 75.5 Conclusion............................................................................................ 2028 Video-References........................................................................................... 2028 References....................................................................................................... 2029 76 Evolutionary Robotics Stefano Nolfi, Josh Bongard, Phil Husbands, Dario Floreano................. 2035 76.1 Method................................................................................................ 2036 76.2 First Steps........................................................................................... 2036 76.3 Simulation and Reality....................................................................... 2040 76.4 Behavior as a Complex Adaptive System .......................................... 2041 76.5 Evolving Bodies................................................................................... 2044 76.6 Seeing the Light................................................................................. 2046 76.7 Computational Neuroethology.......................................................... 2049 76.8 Evolution and Learning...................................................................... 2054 76.9 Evolution of Social Behavior............................................................... 2057 76.10 Evolutionary Hardware ...................................................................... 2060 76.11 Closing Remarks.................................................................................. 2061 Video-References........................................................................................... 2061 References....................................................................................................... 2062 77 Neurorobotics: From Vision to Action Patrick van der Smagt, Michael A. Arbib, Giorgio Metta........................ 2069 77.1 Definitions and History....................................................................... 2070 77.2 The Case for Vision ............................................................................. 2071 77.3 Vertebrate Motor Control..................................................................... 2075 77.4 The Role of Mirror Systems.................................................................. 2082 77.5 Conclusion and Further Reading........................................................ 2089 References....................................................................................................... 2090 Contents 78 Perceptual Robotics Heinrich Bülthojf, Christian Wallraven, Martin A. Giese......................... 2095 78.1 Perceptual Mechanisms of Object Representations.......................... 2097 78.2 Perceptual Mechanisms of Action Representation............................ 2103 78.3 Perceptual Validation of Robotics...................................................... 2107 78.4 Conclusion and Further Reading....................................................... 2108 Video-References.......................................................................................... 2109 References.................. 2109 79 Robotics for Education David P. Miller, Utah Nourbakhsh............................................................ 2115 79.1 The Role of Robots in Education....................................................... 2116 79.2 Educational Robot Tournaments....................................................... 2117 79.3 Education Robot Platforms................................................................ 2120 79.4 Education Robot Controllers and Programming Environments........ 2123 79.5 Robotic Technologies for Student Learning....................................... 2127 79.6 Educational Evaluation of Robot Programs....................................... 2129 79.7 Conclusions and Further Reading...................................................... 2131 Video-References....................................................... 2131 References...................................................................................................... 2131 80 Roboethics: Social and Ethical Implications Gianmarco Verugg io, Fiorella Operto, George Bekey............................. 2135 80.1 A Methodological Note....................................................................... 2137 80.2 Specificity of Robotics......................................................................... 2138 80.3 Cultural Differences in the Acceptance of Robots............................. 2138 80.4 Roboethics Foreshadowed in the Literature ..................................... 2139 80.5 And Expressed in Real Robotics......................................................... 2139 80.6 Ethics in Science and Technology...................................................... 2140 80.7 Ethical Issues in an ICT Society.......................................................... 2143 80.8 Human Principles and Rights............................................................ 2144 80.9 Legal Issues in Robotics...................................................................... 2146 80.10 Roboethics Taxonomy......................................................................... 2147 80.11 Roboethics Enforced: From Ideals to Rules........................................ 2156 80.12 Conclusions and Further Reading...................................................... 2157 Video-References.......................................................................................... 2158 References...................................................................................................... 2159 Acknowledgements..................................................................................... About the Authors....................................................................................... Index.............................................................................................................. 2161 2163 2197 LXI
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title	Springer handbook of robotics with 1375 figures and 109 tables
title_auth	Springer handbook of robotics with 1375 figures and 109 tables
title_exact_search	Springer handbook of robotics with 1375 figures and 109 tables
title_full	Springer handbook of robotics with 1375 figures and 109 tables Bruno Siciliano, Oussama Khatib (eds.)
title_fullStr	Springer handbook of robotics with 1375 figures and 109 tables Bruno Siciliano, Oussama Khatib (eds.)
title_full_unstemmed	Springer handbook of robotics with 1375 figures and 109 tables Bruno Siciliano, Oussama Khatib (eds.)
title_short	Springer handbook of robotics
title_sort	springer handbook of robotics with 1375 figures and 109 tables
title_sub	with 1375 figures and 109 tables
topic	Robotik (DE-588)4261462-4 gnd
topic_facet	Robotik Aufsatzsammlung
url	http://deposit.dnb.de/cgi-bin/dokserv?id=891a96b0eab94d65855e4a0c945cf48e&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029076569&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT sicilianobruno springerhandbookofroboticswith1375figuresand109tables AT khatiboussama springerhandbookofroboticswith1375figuresand109tables AT springerinternationalpublishing springerhandbookofroboticswith1375figuresand109tables

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