Autonomous robots: from biological inspiration to implementation and control
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Cambridge, Mass. [u.a.]
MIT Press
2005
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| Schriftenreihe: | Intelligent robotics and autonomous agents
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Hier auch später erschienene, unveränderte Nachdrucke Includes bibliographical references and index |
| Beschreibung: | XV, 577 S. Ill., graph. Darst. |
| ISBN: | 0262025787 9780262025782 9780262534185 0262534185 |
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| 245 | 1 | 0 | |a Autonomous robots |b from biological inspiration to implementation and control |c George A. Bekey |
| 264 | 1 | |a Cambridge, Mass. [u.a.] |b MIT Press |c 2005 | |
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| 650 | 4 | |a Autonomous robots |x Research | |
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Datensatz im Suchindex
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| adam_text | Contents Preface xiii 1 Autonomy and Control in Animals and Robots 1.1 What Is Autonomy? 1.2 What Is a Robot? 1.3 Problems of Robot Control 1.4 Biologically Inspired Robot Control 1.5 Sensors 1.6 Actuators 1.7 Intelligence 1.8 A Brief Survey of Current Robots and Associated Control Issues 1.9 Concluding Remarks and Organization of the Book 1 1 2 2 7 10 12 12 13 25 2 Control and Regulation in Biological Systems 2.1 Homeostasis 2.2 Engineering and Biological Control Systems 2.3 Multiple Levels of Control: Control Architecture 2.4 Other Biological Control Systems 2.5 Nonlinearities in Biological Control Systems 2.6 Cost Functions 2.7 Control of Functional Motions in Humans 2.8 Relevance to Robot Control 2.9 Historical Background 27 27 29 33 34 38 42 43 43 44 3 Fundamental Structural Elements 3.1 The Structural Elements 3.2 Actuators for Robots 3.3 Sensors for Robots 45 45 47 57
viii 4 5 6 Contents 3.4 Localization 3.5 Computation and Communication 68 68 Low-Level Robot Control 4.1 Engineering Control: An Intuitive Introduction to Its Advantages and Limitations 4.2 Robot Controller Design Principles 4.3 Control of Multilink Structures 4.4 State Space Approach: Theory, Advantages,and Limitations 4.5 Nonlinear Robot Control 4.6 Adaptive Control and Other Approaches 4.7 Model-Free Approaches to Control 4.8 Uncertainty in Control System Design 4.9 Biologically Inspired Control: Basic Principles 71 71 76 79 82 85 88 91 92 93 Software Architectures for Autonomous Robots 5.1 What Is a Robot Architecture? 5.2 Where Does Control Fit into Robot Software? 5.3 A Brief History 5.4 Hierarchical and Deliberative Architectures 5.5 Reactive and Behavior-Based Architectures 5.6 Hybrid Reactive-Deliberative Architectures 5.7 Major Features of Hybrid Architectures 5.8 Case Study 5.1: The Tropism-Based Architecture 5.9 Case Study 5.2: The USC AVATAR Architecture for Autonomous Helicopter Control 5.10 Open Architectures in Robotics 5.11 Concluding Remarks 97 97 98 99 100 104 107 110 113 Robot Learning 6.1 The Nature of Robot Learning 6.2 Learning and Control 6.3 General Issues in Learning by Robotic Systems 6.4 Reinforcement Learning 6.5 Q-Learning 6.6 Case Study 6.1: Learning to Avoid Obstacles Using Reinforcement Learning 6.7 Learning Using Neural Networks 6.8 Case Study 6.2: Learning to Grasp Objects of Different Shapes 125 125 126 128 129 134 117 121 122 135 140 149
Contents ix 6.9 6.10 6.11 6.12 6.13 Evolutionary Algorithms Case Study 6.3: Learning to Walk Using Genetic Algorithms Case Study 6.4: Learning in the Tropism Architecture Learning by Imitation Whither Robot Learning? 153 156 165 175 184 7 Robot 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 7.10 7.11 7.12 Locomotion: An Overview Animal Locomotion Wheeled Vehicles Tracked Vehicles Legged Robots Hopping Robots Serpentine (Snake) Robots Underwater Robotic Vehicles Biologically Inspired Underwater Robots Climbing and Other Unusual Locomotion Methods Flying Robots Self-Reconfigurable Robots Concluding Remarks 185 185 186 197 199 200 203 209 217 225 232 245 251 8 Biped 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 Locomotion Standing and Walking on Two Legs The Nature of Human Walking Musculoskeletal Dynamics Control of Human Locomotion Robotic Models of Biped Locomotion Some Biped Robots Mathematical Models of Biped Kinematicsand Dynamics Modeling Compensatory Trunk MovementsWhile Walking Mechanical Aids to Human Walking Concluding Remarks 253 253 254 256 258 262 263 274 276 277 283 9 Locomotion in Animals and Robots with Four, Six, and Eight Legs 9.1 Introduction to Legged Locomotion in Animals 9.2 Neural Control of Locomotion 9.3 Walking Multilegged Robots 9.4 Six-Legged Walking Machines 9.5 Locomotion in Four-Legged Animals 9.6 Four-Legged Walking Machines 285 285 286 287 289 303 304
Contents x 9.7 9.8 9.9 9.10 10 Arm Motion and Manipulation 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9 10.10 10.11 11 Human Arms and Robot Arms Control of Arm Motion in Humans Robot Manipulators Some Typical Robot Arms Forward Kinematics of Manipulators Inverse Kinematics Dynamics Manipulator Control Alternative Approaches to Manipulator Control Arm Prosthetics and Orthotics Concluding Remarks Control of Grasping in Human and Robot Hands 11.1 11.2 11.3 11.4 11.5 11.6 11.7 12 Finite-State Models of Legged Locomotion Case Study 9.1: Control and Stability in the Quadruped Meno Eight-Legged Walking Machines Concluding Remarks Introduction to Hands Reaching and Grasping Simple Robot End Effectors Multifingered Robot Hands Case Study 11.1: The Belgrade-USC Hand Prosthetic Hands Concluding Remarks Control of Multiple Robots 12.1 12.2 12.3 12.4 12.5 12.6 12.7 12.8 12.9 12.10 12.11 Principles and Problems of Multiple-Robot Systems Biological Inspiration: Sociobiology A Brief History of Multiple Robots Control Issues in Autonomous-Robot Colonies Case Study 12.1: Centralized Control of Very Simple Robots Some Multiple-Robot Architectures Swarm and Cellular Robotics Communication among Multiple Robots Formation Control Robot Soccer Heterogeneous Robot Teams 321 323 327 332 333 333 335 338 341 347 348 350 351 352 355 361 363 363 365 368 371 378 385 390 391 391 393 395 399 400 402 412 415 420 427 429
Contents 12.12 Task Assignment 12.13 Design Issues in Multiple-Robot Systems 12.14 Conclusions xi 431 435 439 13 Humanoid Robots 13.1 Introduction: Why Humanoids? 13.2 Historical Background 13.3 Full-Body Humanoids 13.4 Interaction with Humans 13.5 Special-Purpose Humanoids 13.6 Trends in Humanoid Research 441 441 444 448 457 463 471 14 Localization, Navigation, and Mapping 14.1 Overview 14.2 Biological Inspiration 14.3 Robot Navigation 14.4 Mapping 14.5 Case Study 14.1: Incremental Topological Mapping 14.6 Localization 14.7 Simultaneous Localization and Mapping 14.8 Multirobot Localization 14.9 Concluding Remarks 473 473 475 478 483 488 494 504 504 507 15 The Future of Autonomous Robots 15.1 Introduction 15.2 Current Trends in Robotics 15.3 Human-Robot Cooperation and Interaction 15.4 Multirobot Systems 15.5 Micro-and Nanorobots 15.6 Reconfigurability 15.7 The Implications of Computer Power 15.8 Self-Organization, Self-Repair, Autonomous Evolution, and Self-Replication 15.9 The Potential Dangers of Robotics 15.10 Concluding Remarks 509 509 510 512 513 513 514 514 Appendix: Introduction to Linear Feedback Control Systems A.l Linear Control Systems in the Frequency Domain A.2 The Transfer Function 519 519 522 515 516 518
Contents А.З Stability A.4 Control System Design References Author Index Subject Index 526 529 531 557 563
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| spelling | Bekey, George A. 1928- Verfasser (DE-588)107910039 aut Autonomous robots from biological inspiration to implementation and control George A. Bekey Cambridge, Mass. [u.a.] MIT Press 2005 XV, 577 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Intelligent robotics and autonomous agents Hier auch später erschienene, unveränderte Nachdrucke Includes bibliographical references and index Robots autonomes - Recherche Autonomous robots Research Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 s DE-604 Digitalisierung UB Regensburg - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=013162364&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Bekey, George A. 1928- Autonomous robots from biological inspiration to implementation and control Robots autonomes - Recherche Autonomous robots Research Autonomer Roboter (DE-588)4304075-5 gnd |
| subject_GND | (DE-588)4304075-5 |
| title | Autonomous robots from biological inspiration to implementation and control |
| title_auth | Autonomous robots from biological inspiration to implementation and control |
| title_exact_search | Autonomous robots from biological inspiration to implementation and control |
| title_full | Autonomous robots from biological inspiration to implementation and control George A. Bekey |
| title_fullStr | Autonomous robots from biological inspiration to implementation and control George A. Bekey |
| title_full_unstemmed | Autonomous robots from biological inspiration to implementation and control George A. Bekey |
| title_short | Autonomous robots |
| title_sort | autonomous robots from biological inspiration to implementation and control |
| title_sub | from biological inspiration to implementation and control |
| topic | Robots autonomes - Recherche Autonomous robots Research Autonomer Roboter (DE-588)4304075-5 gnd |
| topic_facet | Robots autonomes - Recherche Autonomous robots Research Autonomer Roboter |
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