Self-reconfigurable robots: an introduction
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Cambridge, Mass. [u.a.]
MIT Press
2010
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| Schriftenreihe: | Intelligent robotics and autonomous agents series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | Literaturangaben |
| Beschreibung: | XIV, 195 Seiten Illustrationen |
| ISBN: | 9780262013710 |
Internformat
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| 245 | 1 | 0 | |a Self-reconfigurable robots |b an introduction |c Kasper Stoy, David Brandt, David J. Christensen |
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Datensatz im Suchindex
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| adam_text | Titel: Self-reconfigurable robots
Autor: Stoy, Kasper
Jahr: 2010
Contents
Foreword ix
Preface xi
Introduction xiii
Self-Reconfigurable Robots 1
1.1 What Is a Self-Reconfigurable Robot? 3
1.2 Features 8
1.3 Brief History 9
1.4 Pack, Herd, and Swarm Robots 21
1.5 From Vision to Application 22
1.6 Structure of this Book 25
1.7 Further Reading 25
Designing Self-Reconfigurable Robots 27
2.1 Robot Design 27
2.2 Design Goals 29
2.3 Self-Reconfigurable Robots and Conventional Robots 35
2.4 Characteristics of Solutions Based on Self-Reconfigurable
Robots 36
2.5 The Use of Design Goals 40
2.6 Further Reading 40
Mechanical Design of Self-Reconfigurable Robots 41
3.1 Types of Self-Reconfigurable Robots 42
3.2 Lattice Structure and Module Geometry 49
3.3 Actuators 55
3.4 Connector Design 64
3.5 Alternative Implementations 74
3.6 Conclusion 76
3.7 Further Reading 78
Contents
Electrical Design of Self-Reconfigurable Robots 83
4.1 Computing and Communication Infrastructure 83
4.2 Energy 89
4.3 Sensors 90
4.4 Conclusion 91
4.5 Further Reading 93
The Self-Reconfiguration Problem 95
5.1 Formulating the Problem 95
5.2 Why Is the Self-Reconfiguration Problem Difficult? 97
5.3 Simplifications of the Self-Reconfiguration Problem 102
5.4 Conclusion 110
5.5 Further Reading 111
Self-Reconfiguration as Search 113
6.1 Configuration Representation 114
6.2 Search Space Considerations 115
6.3 Informed Search 117
6.4 A Successful Search Requires Simplifications 121
6.5 From Solution to Control 122
6.6 On-Line Distributed Search 123
6.7 From Impossible to Simple 123
6.8 Further Reading 124
Self-Reconfiguration as Control 127
7.1 Movement Strategy 128
7.2 Representation of the Goal Configuration 134
7.3 Complications 138
7.4 Docking and Merging 139
7.5 Making Ends Meet 140
7.6 Further Reading 140
Task-Driven Self-Reconfiguration 145
8.1 Locomotion through Self-Reconfiguration 146
8.2 Task-Driven Growth 147
8.3 Self-Reconfiguration as a Side Effect 151
8.4 New Challenges in Self-Reconfiguration 152
8.5 Conclusion 154
8.6 Further Reading 155
Control in Fixed Configurations 157
9.1 Locomotion 157
9.2 Manipulation 169
Contents
9.3 Conclusion 170
9.4 Further Reading 170
10 Research Challenges 173
10.1 Facing the Complexity of Real Tasks 174
10.2 From Basic Functionalities to Behaviors 175
10.3 Behavior Adaptation 176
10.4 Behavior Selection 177
10.5 Behavior Mode 178
10.6 Behavior-Based Robotics as a Framework 179
10.7 Application-Oriented Hardware 179
10.8 Conclusion 180
10.9 Further Reading 180
Appendix: A Simulator for Self-Reconfigurable Robots 183
References 185
Index 193
|
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| spelling | Stoy, Kasper Verfasser aut Self-reconfigurable robots an introduction Kasper Stoy, David Brandt, David J. Christensen Cambridge, Mass. [u.a.] MIT Press 2010 XIV, 195 Seiten Illustrationen txt rdacontent n rdamedia nc rdacarrier Intelligent robotics and autonomous agents series Literaturangaben Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Automatisierungstechnik (DE-588)4194567-0 gnd rswk-swf aRobotics aRobots Mobiler Roboter (DE-588)4191911-7 s Automatisierungstechnik (DE-588)4194567-0 s DE-604 Brandt, David Verfasser aut Christensen, David J. Verfasser aut DE-601 pdf/application http://www.gbv.de/dms/bowker/toc/9780262013710.pdf Inhaltsverzeichnis HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026173376&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Stoy, Kasper Brandt, David Christensen, David J. Self-reconfigurable robots an introduction Mobiler Roboter (DE-588)4191911-7 gnd Automatisierungstechnik (DE-588)4194567-0 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4194567-0 |
| title | Self-reconfigurable robots an introduction |
| title_auth | Self-reconfigurable robots an introduction |
| title_exact_search | Self-reconfigurable robots an introduction |
| title_full | Self-reconfigurable robots an introduction Kasper Stoy, David Brandt, David J. Christensen |
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| title_sort | self reconfigurable robots an introduction |
| title_sub | an introduction |
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| topic_facet | Mobiler Roboter Automatisierungstechnik |
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