Contemporary Robotics

Challenges and Solutions

A D Rodi and #263;

• Publisher: IntechOpen
• Year: 2009
• Print ISBN: 9789533070384
• eBook ISBN: 9789535158615
• Topic: Technology & Engineering
• Subtopic: Automation in Engineering
• Index: Technology & Engineering

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials.

Table of contents

• CONTEMPORARY ROBOTICS - Challenges and Solutions
• Preface
• Contents
• Chapter 1 - Automatic Trajectory Generation using Redundancy Resolution Scheme Based on Virtual Mechanism
• Chapter 2 - Robotic Grasping of Unknown Objects
• Chapter 3 - A modeling approach for mode handling of flexible manufacturing systems
• Chapter 4 - Computed-Torque-Plus-Compensation-Plus-Chattering Controller of Robot Manipulators
• Chapter 5 - Geometric and Threshold Calibration Aspects of a Multiple Line-Scan Vision System for Planar Objects Inspection
• Chapter 6 - Robot-Based Inline 2D/3D Quality Monitoring Using Picture-Givingand Laser Triangulation Sensors
• Chapter 7 - Prospective polymer composite materials for applications in flexible tactile sensors
• Chapter 8 - Simultaneous Localization and Mapping (SLAM) of a Mobile Robot Based on Fusion of Odometry and Visual Data Using Extended Kalman Filter
• Chapter 9 - Distributed Estimation of Unknown Beacon Positions in a Localization Network
• Chapter 10 - Generic Real-Time Motion Controller for Differential Mobile Robots
• Chapter 11 - Control of fuel cell systems in mobile applications
• Chapter 12 Modeling and Assessing of Omni-directional Robots with Three and Four Wheels
• Chapter 13 - HUNTER – HYBRID UNIFIED TRACKING ENVIRONMENT
• Chapter 14 - Cooperation Control in Distributed Population-based Algorithms using a Multi-agent Approach Application to a real-life Vehicle Routing Problem
• Chapter 15 - Adaptive Bio-inspired Control of Humanoid Robots – From Human Locomotion to an Artificial Biped Gait of High Performances
• Chapter 16 - Dynamic-Based Simulation for Humanoid Robot Walking Using Walking Support System
• Chapter 17 - Output Feedback Adaptive Controller Model for Perceptual Motor Control Dynamics of Human
• Chapter 18 - Biomimetic approach to design and control mechatronics structure using smart materials