Redundancy in robot manipulators and multi-robot systems:
<p><p>The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that addin...
Gespeichert in:
| Weitere Verfasser: | |
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2013
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| Schriftenreihe: | Lecture notes in electrical engineering
57 |
| Schlagworte: | |
| Online-Zugang: | BTU01 FHA01 FHI01 FHN01 FHR01 FKE01 FWS01 UBY01 Volltext Inhaltsverzeichnis Abstract |
| Zusammenfassung: | <p><p>The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics.</p><p>This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields.</p> |
| Beschreibung: | Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators -- Low-Cost Multi-Robot Localization -- Using torque redundancy to optimize contact forces in legged robots -- Exploiting Heterogeneity in Robotic Networks -- Variational Analysis of Snakelike Robots -- Robustness in the Presence of Task Differentiation in Robot Ensembles -- Cooperating Mobile Cable Robots: -- Deployment algorithms for dynamically constrained mobile robots -- Kalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations -- M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds -- Individual Control of Redundant Skeletal Muscles using an Exoskeleton Robot -- Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements |
| Beschreibung: | 1 Online-Ressource (VIII, 241 p. 80 illus) |
| ISBN: | 9783642339714 |
| DOI: | 10.1007/978-3-642-33971-4 |
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| adam_text | REDUNDANCY IN ROBOT MANIPULATORS AND MULTI-ROBOT SYSTEMS
/
: 2013
TABLE OF CONTENTS / INHALTSVERZEICHNIS
PERFORMANCE OF SERIAL UNDERACTUATED MECHANISMS: NUMBER OF DEGREES OF
FREEDOM AND ACTUATORS
LOW-COST MULTI-ROBOT LOCALIZATION
USING TORQUE REDUNDANCY TO OPTIMIZE CONTACT FORCES IN LEGGED ROBOTS
EXPLOITING HETEROGENEITY IN ROBOTIC NETWORKS
VARIATIONAL ANALYSIS OF SNAKELIKE ROBOTS
ROBUSTNESS IN THE PRESENCE OF TASK DIFFERENTIATION IN ROBOT ENSEMBLES
COOPERATING MOBILE CABLE ROBOTS:
DEPLOYMENT ALGORITHMS FOR DYNAMICALLY CONSTRAINED MOBILE ROBOTS
KALMAN SMOOTHING FOR DISTRIBUTED OPTIMAL FEEDBACK CONTROL OF UNICYCLE
FORMATIONS
M*: A COMPLETE MULTIROBOT PATH PLANNING ALGORITHM WITH OPTIMALITY BOUNDS
INDIVIDUAL CONTROL OF REDUNDANT SKELETAL MUSCLES USING AN EXOSKELETON
ROBOT
SYNTHESIZING REDUNDANCY RESOLUTION CRITERIA OF THE HUMAN ARM POSTURE IN
REACHING MOVEMENTS
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
REDUNDANCY IN ROBOT MANIPULATORS AND MULTI-ROBOT SYSTEMS
/
: 2013
ABSTRACT / INHALTSTEXT
THE TREND IN THE EVOLUTION OF ROBOTIC SYSTEMS IS THAT THE NUMBER OF
DEGREES OF FREEDOM INCREASES. THIS IS VISIBLE BOTH IN ROBOT MANIPULATOR
DESIGN AND IN THE SHIFT OF FOCUS FROM SINGLE TO MULTI-ROBOT SYSTEMS.
FOLLOWING THE PRINCIPLES OF EVOLUTION IN NATURE, ONE MAY INFER THAT
ADDING DEGREES OF FREEDOM TO ROBOT SYSTEMS DESIGN IS BENEFICIAL.
HOWEVER, SINCE NATURE DID NOT SELECT SNAKE-LIKE BODIES FOR ALL
CREATURES, IT IS REASONABLE TO EXPECT THE PRESENCE OF A CERTAIN
SELECTION PRESSURE ON THE NUMBER OF DEGREES OF FREEDOM. THUS,
UNDERSTANDING COSTS AND BENEFITS OF MULTIPLE DEGREES OF FREEDOM,
ESPECIALLY THOSE THAT CREATE REDUNDANCY, IS A FUNDAMENTAL PROBLEM IN THE
FIELD OF ROBOTICS. THIS VOLUME IS MOSTLY BASED ON THE WORKS PRESENTED AT
THE WORKSHOP ON REDUNDANCY IN ROBOT MANIPULATORS AND MULTI-ROBOT SYSTEMS
AT THE IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND
SYSTEMS - IROS 2011. THE WORKSHOPWAS ENVISIONED AS A DIALOG BETWEEN
RESEARCHERS FROM TWO SEPARATE, BUT OBVIOUSLY RELATEDFIELDS OF ROBOTICS:
ONE THAT DEALS WITH SYSTEMS HAVING MULTIPLE DEGREES OF FREEDOM,
INCLUDING REDUNDANT ROBOT MANIPULATORS, AND THE OTHER THAT DEALS WITH
MULTIROBOT SYSTEMS. THE VOLUME CONSISTS OF TWELVE CHAPTERS, EACH
REPRESENTING ONE OF THE TWO FIELDS
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
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| genre | 1\p (DE-588)1071861417 Konferenzschrift 2011 San Francisco, Calif. gnd-content |
| genre_facet | Konferenzschrift 2011 San Francisco, Calif. |
| id | DE-604.BV040951649 |
| illustrated | Not Illustrated |
| indexdate | 2024-08-01T16:14:51Z |
| institution | BVB |
| isbn | 9783642339714 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025930187 |
| oclc_num | 820500625 |
| open_access_boolean | |
| owner | DE-898 DE-BY-UBR DE-634 DE-573 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| owner_facet | DE-898 DE-BY-UBR DE-634 DE-573 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| physical | 1 Online-Ressource (VIII, 241 p. 80 illus) |
| psigel | ZDB-2-ENG |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
| record_format | marc |
| series | Lecture notes in electrical engineering |
| series2 | Lecture notes in electrical engineering |
| spellingShingle | Redundancy in robot manipulators and multi-robot systems Lecture notes in electrical engineering Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence Mobiler Roboter (DE-588)4191911-7 gnd Manipulator (DE-588)4037349-6 gnd Bahnplanung (DE-588)4267628-9 gnd Redundanz (DE-588)4157937-9 gnd Roboterarm (DE-588)4507425-2 gnd Freiheitsgrad (DE-588)4155318-4 gnd Mehrrobotersystem (DE-588)4734038-1 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4037349-6 (DE-588)4267628-9 (DE-588)4157937-9 (DE-588)4507425-2 (DE-588)4155318-4 (DE-588)4734038-1 (DE-588)1071861417 |
| title | Redundancy in robot manipulators and multi-robot systems |
| title_auth | Redundancy in robot manipulators and multi-robot systems |
| title_exact_search | Redundancy in robot manipulators and multi-robot systems |
| title_full | Redundancy in robot manipulators and multi-robot systems Dejan Milutinović ... (eds.) |
| title_fullStr | Redundancy in robot manipulators and multi-robot systems Dejan Milutinović ... (eds.) |
| title_full_unstemmed | Redundancy in robot manipulators and multi-robot systems Dejan Milutinović ... (eds.) |
| title_short | Redundancy in robot manipulators and multi-robot systems |
| title_sort | redundancy in robot manipulators and multi robot systems |
| topic | Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence Mobiler Roboter (DE-588)4191911-7 gnd Manipulator (DE-588)4037349-6 gnd Bahnplanung (DE-588)4267628-9 gnd Redundanz (DE-588)4157937-9 gnd Roboterarm (DE-588)4507425-2 gnd Freiheitsgrad (DE-588)4155318-4 gnd Mehrrobotersystem (DE-588)4734038-1 gnd |
| topic_facet | Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence Mobiler Roboter Manipulator Bahnplanung Redundanz Roboterarm Freiheitsgrad Mehrrobotersystem Konferenzschrift 2011 San Francisco, Calif. |
| url | https://doi.org/10.1007/978-3-642-33971-4 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025930187&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025930187&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV042385829 |
| work_keys_str_mv | AT milutinovicdejanlj redundancyinrobotmanipulatorsandmultirobotsystems |