Algorithmic and Computational Robotics: New Directions 2000 WAFR

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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.

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Editorial Reviews

Booknews
Contains papers from a March 2000 workshop on recent trends and future directions in research on the algorithmic foundations of robotics. Major themes include geometric algorithms, minimalist and underactuated robotics, robot controllability, manufacturing and assembly, holonomic and nonholonomic motion planning, manipulation planning, sensor-based and task-level planning, grasping, navigation, biometrics, medical robotics, self-assembly, modular and reconfigurable robots, and distributed manipulation. Specific topics include compensatory grasping with the parallel jaw gripper, synthesis and regulation for cyclic behaviors, and randomized kinodynamic motion planning with moving obstacles. The book is not indexed. Annotation c. Book News, Inc., Portland, OR (booknews.com)
From The Critics
Algorithms control the computational processes relating the indispensable sensors and actuators required for robot navigation and environmental perception. A clear and thorough understanding of how algorithms work is fundamentally essential for developing efficient and usable robots. Capably edited by Bruce Randall Donald, Kevin Lynch, and Daniela Rus, Algorithmic And Computational Robotics: New Directions is drawn from an interdisciplinary group of scientists who contributed their findings, commentaries, and analysis to the Fourth Workshop on the Algorithmic Foundation of Robotics (WAFR 2000). This superbly presented text covers such issues as geometric algorithms, minimalist and underactuated robotics, robot controllability, manufacturing and assembly, holonomic and nonholonomic motion planning, manipulation planning, sensor-based planning, task-level planning, grasping, navigation, biometrics, medical robots, self-assembly, modular and reconfigurable robots, and distributed manipulation. Algorithmic And Computational Robotics is an impressive and highly recommended addition to robotic studies reference collections and reading lists.
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Product Details

  • ISBN-13: 9781568811253
  • Publisher: Taylor & Francis
  • Publication date: 4/21/2001
  • Pages: 390

Table of Contents

Foreword
Participants
Meso-Scale Self-Assembly 1
Robust Geometric Computing in Motion 9
Controlled Module Density Helps Reconfiguration Planning 23
Positioning Symmetric and Non-Symmetric Parts Using Radial and Constant Force Fields 37
Complete Distributed Coverage of Rectilinear Environments 51
Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays 63
Kinematic Tolerance Analysis with Configuration Spaces 73
Deformable Free Space Tilings for Kinetic Collision Detection 83
Real-time Global Deformations 97
Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting 109
Manipulation of Pose Distributions 127
Image Guided Surgery 143
Pulling Motion Based Tactile Sensing 157
Compensatory Grasping with the Parallel Jaw Gripper 169
Optimal Planning for Coordinated Vehicles 181
An Efficient Approximation Algorithm for Weighted Region Shortest Path Problem 191
Synthesis and Regulation of Cyclic Behaviors 205
A Framework for Steering Dynamic Robotic Locomotion Systems 221
A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems 233
Randomized Kinodynamic Motion Planning with Moving Obstacles 247
On Random Sampling in Contact Configuration Space 265
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling 279
Rapidly-Exploring Random Trees: Progress and Prospects 293
Encoders for Spherical Motion Using Discrete Optical Sensors 309
Notes on Visibility Roadmaps and Path Planning 317
AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots 329
Coupled Oscillators for Legged Robots 341
Reliable Mobile Robot Navigation From Unreliable Visual Cues 349
Toward Real-Time Motion Planning in Changing Environments 363
Graphical Construction of Time Optimal Trajectories for Differential Drive Robots 377
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