Algorithmic and Computational Robotics: New Directions 2000 WAFR

Algorithmic and Computational Robotics: New Directions 2000 WAFR

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by Bruce Donald, Bruce R. Donald
     
 

Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications. An

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Overview

Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications. An interdisciplinary group of scientists gathers every two years to document the progress in algorithmic foundations of robotics. This volume addresses in particular the areas of control theory, computational and differential geometry in robotics, and applications to core problems such as motion planning, navigation, sensor-based planning, and manipulation.

Product Details

ISBN-13:
9781568811253
Publisher:
Taylor & Francis
Publication date:
04/21/2001
Pages:
390
Product dimensions:
8.66(w) x 11.06(h) x (d)

Table of Contents

Foreword
Participants
Meso-Scale Self-Assembly1
Robust Geometric Computing in Motion9
Controlled Module Density Helps Reconfiguration Planning23
Positioning Symmetric and Non-Symmetric Parts Using Radial and Constant Force Fields37
Complete Distributed Coverage of Rectilinear Environments51
Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays63
Kinematic Tolerance Analysis with Configuration Spaces73
Deformable Free Space Tilings for Kinetic Collision Detection83
Real-time Global Deformations97
Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting109
Manipulation of Pose Distributions127
Image Guided Surgery143
Pulling Motion Based Tactile Sensing157
Compensatory Grasping with the Parallel Jaw Gripper169
Optimal Planning for Coordinated Vehicles181
An Efficient Approximation Algorithm for Weighted Region Shortest Path Problem191
Synthesis and Regulation of Cyclic Behaviors205
A Framework for Steering Dynamic Robotic Locomotion Systems221
A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems233
Randomized Kinodynamic Motion Planning with Moving Obstacles247
On Random Sampling in Contact Configuration Space265
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling279
Rapidly-Exploring Random Trees: Progress and Prospects293
Encoders for Spherical Motion Using Discrete Optical Sensors309
Notes on Visibility Roadmaps and Path Planning317
AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots329
Coupled Oscillators for Legged Robots341
Reliable Mobile Robot Navigation From Unreliable Visual Cues349
Toward Real-Time Motion Planning in Changing Environments363
Graphical Construction of Time Optimal Trajectories for Differential Drive Robots377

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