The robotics primer:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Cambridge, Mass. [u.a.]
MIT Press
2007
|
| Series: | Intelligent robotics and autonomous agents series
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XVII, 306 S. Ill. |
| ISBN: | 026263354X 9780262633543 |
Staff View
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Record in the Search Index
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| adam_text | THE ROBOTICS PRIMER MAJA J MATARIC ILLUSTRATIONS BY NATHAN KOENIG THE
MIT PRESS CAMBRIDGE, MASSACHUSETTS LONDON, ENGLAND CONTENTS PREFACE XV 1
WHAT IS A ROBOT? 1 2 WHERE DO ROBOTS COME FROM? 7 2.1 2.2 2.3 CONTROL
THEORY 7 CYBERNETICS 8 2.2.1 GREY WALTER S TORTOISE 2.2.2 BRAITENBERG S
VEHICLES ARTIFICIAL INTELLIGENCE 13 3 WHAT S IN A ROBOT? 19 3.1 3.2 3.3
3.4 3.5 EMBODIMENT 20 SENSING 21 ACTION 24 BRAINS AND BRAWN 25 AUTONOMY
26 9 11 ARMS, LEGS, WHEELS, TRACKS, AND WHAT REALLY DRIVES THEM 29 4.1
ACTIVE VS. PASSIVE ACTUATION » 30 4.2 TYPES OF ACTUATORS 31 4.3 MOTORS
32 4.3.1 DIRECT-CURRENT (DC) MOTORS 32 4.3.2 GEARING 34 4.3.3 SERVO
MOTORS 37 4.4.,- DEGREES OF FREEDOM 38 CONTENTS 5 MOVE IT! 47 5.1
STABILITY 48 5.2 MOVING AND GAITS 51 5.3 WHEELS AND STEERING 53 5.4
STAYING ON THE PATH VS. GETTING THERE 55 6 GRASPING AT STRAWS 59 6.1
ENDEFFECTORS 59 6.2 TELEOPERATION 60 6.3 WHY IS MANIPULATION HARD? 62 7
WHAT S GOING ON? 69 7.1 LEVELS OF PROCESSING 73 8 SWITCH ON THE LIGHT 81
8.1 PASSIVE VS. ACTIVE SENSORS 81 8.2 SWITCHES 82 8.3 LIGHT SENSORS 84
8.3.1 POLARIZED LIGHT 86 8.3.2 REFLECTIVE OPTOSENSORS 86 8.3.3
REFLECTANCE SENSORS 88 8.3.4 INFRA RED LIGHT 89 8.3.5 MODULATION AND
DEMODULATION OF LIGHT 90 8.3.6 BREAK BEAM SENSORS 90 8.3.7 SHAFT
ENCODERS 91 8.4 RESISTIVE POSITION SENSORS 94 8.4.1 POTENTIOMETERS 95 9
SONARS, LASERS, AND CAMERAS 97 9.1 ULTRASONIC OR SONAR SENSING 97 9.1.1
SONAR BEFORE AND BEYOND ROBOTICS 100 9.1.2 SPECULAR REFLECTION 101 9.2
9.3 LASER SENSING 104 VISUAL 9.3.1 9.3.2 9.3.3 9.3.4 9.3.5 9.3.6 SENSING
107 CAMERAS 108 EDGE DETECTION 110 MODEL-BASED VISION IV. MOTION
VISION 113 STEREO VISION 114 TEXTURE, SHADING, CONTOURS 116 CONTENTS XI
9.3.7 BIOLOGICAL VISION 116 9.3.8 VISION FOR ROBOTS 117 10 STAY IN
CONTROL 121 10.1 FEEDBACK OR CLOSED LOOP CONTROL 121 10.2 THE MANY FACES
OF ERROR 122 10.3 AN EXAMPLE OF A FEEDBACK CONTROL ROBOT 124 10.4 TYPES
OF FEEDBACK CONTROL 126 10.4.1 PROPORTIONAL CONTROL 126 10.4.2
DERIVATIVE CONTROL 128 10.4.3 INTEGRAL CONTROL 129 10.4.4 PD AND PID
CONTROL 130 10.5 FEEDFORWARD OR OPEN LOOP CONTROL 131 11 THE BUILDING
BLOCKS OF CONTROL 135 11.1 WHO NEEDS CONTROL ARCHITECTURES? 135 11.2
LANGUAGES FOR PROGRAMMING ROBOTS 137 11.3 AND THE ARCHITECTURES ARE...
139 11.3.1 TIME 141 11.3.2 MODULARITY 141 11.3.3 REPRESENTATION 142 12
WHAT S IN YOUR HEAD? 145 12.1 THE MANY WAYS TO MAKE A MAP 146 12.2 WHAT
CAN THE ROBOT REPRESENT? 148 12.3 COSTS OF REPRESENTING 148 13 THINK
HARD, ACT LATER 151 13.1 WHAT IS PLANNING? 152 13.2 COSTS OF PLANNING
154 14 DON T THINK, REACT! 161 14.1 ACTION SELECTION 166 14.2
SUBSUMPTION ARCHITECTURE 9 169 14.3 HERBERT, OR HOW TO SEQUENCE
BEHAVIORS THROUGH THE WORLD 172 15 THINK AND ACT SEPARATELY, IN PARALLEL
17 7 15.1 DEALING WITH CHANGES IN THE WORLD/MAP/TASK 179 15.2 PLANNING
AND REPLANNING 180 XII CONTENTS 15.3 AVOIDING REPLANNING 181 15.4
ON-LINE AND OFF-LINE PLANNING 182 16 THINK THE WAY YOU ACT 187 16.1
DISTRIBUTED REPRESENTATION 192 16.2 AN EXAMPLE: DISTRIBUTED MAPPING 193
16.2.1 TOTO THE ROBOT ^194 16.2.2 TOTO S NAVIGATION 194 16.2.3 TOTO S
LANDMARK DETECTION 196 16.2.4 TOTO S MAPPING BEHAVIORS 197 16.2.5 PATH
PLANNING IN TOTO S BEHAVIOR MAP 200 16.2.6 TOTO S MAP-FOLLOWING 202 17
MAKING YOUR ROBOT BEHAVE 207 17.1 BEHAVIOR ARBITRATION: MAKE A CHOICE
207 17.2 BEHAVIOR FUSION: SUM IT UP 209 18 WHEN THE UNEXPECTED HAPPENS
215 18.1 AN EXAMPLE: EMERGENT WALL-FOLLOWING 215 18.2 THE WHOLE IS
GREATER THAN THE SUM OF ITS PARTS 216 18.3 COMPONENTS OF EMERGENCE 218
18.4 EXPECT THE UNEXPECTED 218 18.5 PREDICTABILITY OF SURPRISE 219 18.6
GOOD VS. BAD EMERGENT BEHAVIOR 220 18.7 ARCHITECTURES AND EMERGENCE 221
19 GOING PLACES 223 19.1 LOCALIZATION 225 19.2 SEARCH AND PATH PLANNING
228 19.3 SLAM 229 19.4 COVERAGE 230 20 GO, TEAM! 233 20.1 BENEFITS OF
TEAMWORK 234*. 20.2 CHALLENGES OF TEAMWORK 236 20.3 TYPES OF GROUPS AND
TEAMS 238 20.4 COMMUNICATION 241 20.4.1 KIN RECOGNITION 247 20.5 GETTING
A TEAM TO PLAY TOGETHER 248 20.5.1 I M THE BOSS: CENTRALIZED CONTROL 248
CONTENTS XIII 20.5.2 WORK IT OUT AS A TEAM: DISTRIBUTED CONTROL 248 20.6
ARCHITECTURES FOR MULTI-ROBOT CONTROL 250 20.6.1 PECKING ORDERS:
HIERARCHIES 251 21 THINGS KEEP GETTING BETTER 255 21.1 REINFORCEMENT
LEARNING 256 21.2 SUPERVISED LEARNING ^260 21.3 LEARNING BY
IMITATION/FROM DEMONSTRATION 262 21.4 LEARNING AND FORGETTING 266 22
WHERE TO NEXT? 269 22.1 SPACE ROBOTICS 273 22.2 SURGICAL ROBOTICS 274
22.3 SELF-RECONFIGURABLE ROBOTICS 276 22.4 HUMANOID ROBOTICS 277 22.5
SOCIAL ROBOTICS AND HUMAN-ROBOT INTERACTION 278 22.6 SERVICE, ASSISTIVE
AND REHABILITATION ROBOTICS 280 22.7 EDUCATIONAL ROBOTICS 283 22.8
ETHICAL IMPLICATIONS 285 BIBLIOGRAPHY 289 GLOSSARY 293 INDEX 303
|
| adam_txt |
THE ROBOTICS PRIMER MAJA J MATARIC ILLUSTRATIONS BY NATHAN KOENIG THE
MIT PRESS CAMBRIDGE, MASSACHUSETTS LONDON, ENGLAND CONTENTS PREFACE XV 1
WHAT IS A ROBOT? 1 2 WHERE DO ROBOTS COME FROM? 7 2.1 2.2 2.3 CONTROL
THEORY 7 CYBERNETICS 8 2.2.1 GREY WALTER'S TORTOISE 2.2.2 BRAITENBERG'S
VEHICLES ARTIFICIAL INTELLIGENCE 13 3 WHAT'S IN A ROBOT? 19 3.1 3.2 3.3
3.4 3.5 EMBODIMENT 20 SENSING 21 ACTION 24 BRAINS AND BRAWN 25 AUTONOMY
26 9 11 ARMS, LEGS, WHEELS, TRACKS, AND WHAT REALLY DRIVES THEM 29 4.1
ACTIVE VS. PASSIVE ACTUATION » 30 4.2 TYPES OF ACTUATORS 31 4.3 MOTORS
32 4.3.1 DIRECT-CURRENT (DC) MOTORS 32 4.3.2 GEARING 34 4.3.3 SERVO
MOTORS 37 4.4.,- DEGREES OF FREEDOM 38 CONTENTS 5 MOVE IT! 47 5.1
STABILITY 48 5.2 MOVING AND GAITS 51 5.3 WHEELS AND STEERING 53 5.4
STAYING ON THE PATH VS. GETTING THERE 55 6 GRASPING AT STRAWS 59 6.1
ENDEFFECTORS 59 6.2 TELEOPERATION 60 6.3 WHY IS MANIPULATION HARD? 62 7
WHAT'S GOING ON? 69 7.1 LEVELS OF PROCESSING 73 8 SWITCH ON THE LIGHT 81
8.1 PASSIVE VS. ACTIVE SENSORS 81 8.2 SWITCHES 82 8.3 LIGHT SENSORS 84
8.3.1 POLARIZED LIGHT 86 8.3.2 REFLECTIVE OPTOSENSORS 86 8.3.3
REFLECTANCE SENSORS 88 8.3.4 INFRA RED LIGHT 89 8.3.5 MODULATION AND
DEMODULATION OF LIGHT 90 8.3.6 BREAK BEAM SENSORS 90 8.3.7 SHAFT
ENCODERS 91 8.4 RESISTIVE POSITION SENSORS 94 8.4.1 POTENTIOMETERS 95 9
SONARS, LASERS, AND CAMERAS 97 9.1 ULTRASONIC OR SONAR SENSING 97 9.1.1
SONAR BEFORE AND BEYOND ROBOTICS 100 9.1.2 SPECULAR REFLECTION 101 9.2
9.3 LASER SENSING 104 VISUAL 9.3.1 9.3.2 9.3.3 9.3.4 9.3.5 9.3.6 SENSING
107 " CAMERAS 108 EDGE DETECTION 110 MODEL-BASED VISION IV. MOTION
VISION 113 STEREO VISION 114 TEXTURE, SHADING, CONTOURS 116 CONTENTS XI
9.3.7 BIOLOGICAL VISION 116 9.3.8 VISION FOR ROBOTS 117 10 STAY IN
CONTROL 121 10.1 FEEDBACK OR CLOSED LOOP CONTROL 121 10.2 THE MANY FACES
OF ERROR 122 10.3 AN EXAMPLE OF A FEEDBACK CONTROL ROBOT 124 10.4 TYPES
OF FEEDBACK CONTROL 126 10.4.1 PROPORTIONAL CONTROL 126 10.4.2
DERIVATIVE CONTROL 128 10.4.3 INTEGRAL CONTROL 129 10.4.4 PD AND PID
CONTROL 130 10.5 FEEDFORWARD OR OPEN LOOP CONTROL 131 11 THE BUILDING
BLOCKS OF CONTROL 135 11.1 WHO NEEDS CONTROL ARCHITECTURES? 135 11.2
LANGUAGES FOR PROGRAMMING ROBOTS 137 11.3 AND THE ARCHITECTURES ARE.
139 11.3.1 TIME 141 11.3.2 MODULARITY 141 11.3.3 REPRESENTATION 142 12
WHAT'S IN YOUR HEAD? 145 12.1 THE MANY WAYS TO MAKE A MAP 146 12.2 WHAT
CAN THE ROBOT REPRESENT? 148 12.3 COSTS OF REPRESENTING 148 13 THINK
HARD, ACT LATER 151 13.1 WHAT IS PLANNING? 152 13.2 COSTS OF PLANNING
154 14 DON'T THINK, REACT! 161 14.1 ACTION SELECTION 166 14.2
SUBSUMPTION ARCHITECTURE 9 169 14.3 HERBERT, OR HOW TO SEQUENCE
BEHAVIORS THROUGH THE WORLD 172 15 THINK AND ACT SEPARATELY, IN PARALLEL
17 7 15.1 DEALING WITH CHANGES IN THE WORLD/MAP/TASK 179 15.2 PLANNING
AND REPLANNING 180 XII CONTENTS 15.3 AVOIDING REPLANNING 181 15.4
ON-LINE AND OFF-LINE PLANNING 182 16 THINK THE WAY YOU ACT 187 16.1
DISTRIBUTED REPRESENTATION 192 16.2 AN EXAMPLE: DISTRIBUTED MAPPING 193
16.2.1 TOTO THE ROBOT ^194 16.2.2 TOTO'S NAVIGATION 194 16.2.3 TOTO'S
LANDMARK DETECTION 196 16.2.4 TOTO'S MAPPING BEHAVIORS 197 16.2.5 PATH
PLANNING IN TOTO'S BEHAVIOR MAP 200 16.2.6 TOTO'S MAP-FOLLOWING 202 17
MAKING YOUR ROBOT BEHAVE 207 17.1 BEHAVIOR ARBITRATION: MAKE A CHOICE
207 17.2 BEHAVIOR FUSION: SUM IT UP 209 18 WHEN THE UNEXPECTED HAPPENS
215 18.1 AN EXAMPLE: EMERGENT WALL-FOLLOWING 215 18.2 THE WHOLE IS
GREATER THAN THE SUM OF ITS PARTS 216 18.3 COMPONENTS OF EMERGENCE 218
18.4 EXPECT THE UNEXPECTED 218 18.5 PREDICTABILITY OF SURPRISE 219 18.6
GOOD VS. BAD EMERGENT BEHAVIOR 220 18.7 ARCHITECTURES AND EMERGENCE 221
19 GOING PLACES 223 19.1 LOCALIZATION 225 19.2 SEARCH AND PATH PLANNING
228 19.3 SLAM 229 19.4 COVERAGE 230 20 GO, TEAM! 233 20.1 BENEFITS OF
TEAMWORK 234*. 20.2 CHALLENGES OF TEAMWORK 236 20.3 TYPES OF GROUPS AND
TEAMS 238 20.4 COMMUNICATION 241 20.4.1 KIN RECOGNITION 247 20.5 GETTING
A TEAM TO PLAY TOGETHER 248 20.5.1 I'M THE BOSS: CENTRALIZED CONTROL 248
CONTENTS XIII 20.5.2 WORK IT OUT AS A TEAM: DISTRIBUTED CONTROL 248 20.6
ARCHITECTURES FOR MULTI-ROBOT CONTROL 250 20.6.1 PECKING ORDERS:
HIERARCHIES 251 21 THINGS KEEP GETTING BETTER 255 21.1 REINFORCEMENT
LEARNING 256 21.2 SUPERVISED LEARNING ^260 21.3 LEARNING BY
IMITATION/FROM DEMONSTRATION 262 21.4 LEARNING AND FORGETTING 266 22
WHERE TO NEXT? 269 22.1 SPACE ROBOTICS 273 22.2 SURGICAL ROBOTICS 274
22.3 SELF-RECONFIGURABLE ROBOTICS 276 22.4 HUMANOID ROBOTICS 277 22.5
SOCIAL ROBOTICS AND HUMAN-ROBOT INTERACTION 278 22.6 SERVICE, ASSISTIVE
AND REHABILITATION ROBOTICS 280 22.7 EDUCATIONAL ROBOTICS 283 22.8
ETHICAL IMPLICATIONS 285 BIBLIOGRAPHY 289 GLOSSARY 293 INDEX 303 |
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| spelling | Matarić, Maja J. Verfasser aut The robotics primer by Maja J. Matarić Cambridge, Mass. [u.a.] MIT Press 2007 XVII, 306 S. Ill. txt rdacontent n rdamedia nc rdacarrier Intelligent robotics and autonomous agents series Robotik (DE-588)4261462-4 gnd rswk-swf (DE-588)4151278-9 Einführung gnd-content Robotik (DE-588)4261462-4 s DE-604 HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016223167&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Matarić, Maja J. The robotics primer Robotik (DE-588)4261462-4 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4151278-9 |
| title | The robotics primer |
| title_auth | The robotics primer |
| title_exact_search | The robotics primer |
| title_exact_search_txtP | The robotics primer |
| title_full | The robotics primer by Maja J. Matarić |
| title_fullStr | The robotics primer by Maja J. Matarić |
| title_full_unstemmed | The robotics primer by Maja J. Matarić |
| title_short | The robotics primer |
| title_sort | the robotics primer |
| topic | Robotik (DE-588)4261462-4 gnd |
| topic_facet | Robotik Einführung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016223167&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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