Milutinovic D., Rosen J. Redundancy in Robot Manipulators and Multi-Robot Systems

Springer-Verlag Berlin Heidelberg, 2013. VIII, 241 p. 80 illus. — ISBN: 978-3-642-33970-7, e-ISBN: 978-3-642-33971-4, DOI 10.1007/978-3-642-33971-4.Presents the most recent work on the design of redundant robot systems, their control, performance, human-robot interaction and reliability analysis
Based on contributions presented at the IROS 2011 Workshop on Redundancy in Robot Manipulators and Multi-Robot Systems, held in Septemebr 2011, San Francisco
Written by leading experts in the field
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.Content Level » Research
Keywords » Distributed Systems - Medical Robotics - Mobile Robots - Multi-robot Systems -Redundancy - Redundant Manipulators - Robotics - Swarm Robotics - Wearable Robotics
Related subjects » Artificial Intelligence - Computational Intelligence and Complexity - RoboticsюPerformance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and ActuatorsRavi Balasubramanian, Aaron M. Dollar Low-Cost Multi-robot Localization
Amanda Prorok, Alexander Bahr, Alcherio MartinoliUsing Torque Redundancy to Optimize Contact Forces in Legged Robots
Ludovic Righetti, Jonas Buchli, Michael Mistry, Mrinal Kalakrishnan, Stefan SchaalExploiting Heterogeneity in Robotic Networks
Nicola Bezzo, R. Andres Cortez, Rafael FierroVariational Analysis of Snakelike Robots
Gregory S. ChirikjianRobustness in the Presence of Task Differentiation in Robot Ensembles
M. Ani Hsieh, T. William MatherCooperatingMobile Cable Robots: Screw Theoretic Analysis
Xiaobo Zhou, Chin Pei Tang, Venkat KroviDeployment Algorithms for Dynamically ConstrainedMobile Robots
Sonia Mart ınezKalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations
Ross P. Anderson, Dejan Milutinovi´cM*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds
Glenn Wagner, Howie ChosetIndividual Control of Redundant Skeletal Muscles Using an Exoskeleton Robot
Jun Ueda, Ming Ding
Synthesizing Redundancy Resolution Criteria of the Human ArmPosture in Reaching Movements
Zhi Li, Hyunchul Kim, Dejan Milutinovi´c, Jacob RosenAuthor Index