Autonomous Robots: From Biological Inspiration to Implementation and ControlMIT Press, 2005 - 577 sayfa Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner. In this book, George Bekey offers an introduction to the science and practice of autonomous robots that can be used both in the classroom and as a reference for industry professionals. He surveys the hardware implementations of more than 300 current systems, reviews some of their application areas, and examines the underlying technology, including control, architectures, learning, manipulation, grasping, navigation, and mapping. Living systems can be considered the prototypes of autonomous systems, and Bekey explores the biological inspiration that forms the basis of many recent developments in robotics. He also discusses robot control issues and the design of control architectures. After an overview of the field that introduces some of its fundamental concepts, the book presents background material on hardware, control (from both biological and engineering perspectives), software architecture, and robot intelligence. It then examines a broad range of implementations and applications, including locomotion (wheeled, legged, flying, swimming, and crawling robots), manipulation (both arms and hands), localization, navigation, and mapping. The many case studies and specific applications include robots built for research, industry, and the military, among them underwater robotic vehicles, walking machines with four, six, and eight legs, and the famous humanoid robots Cog, Kismet, ASIMO, and QRIO. The book concludes with reflections on the future of robotics -- the potential benefits as well as the possible dangers that may arise from large numbers of increasingly intelligent and autonomous robots. |
İçindekiler
Autonomy and Control in Animals and Robots | 1 |
12 What Is a Robot? | 2 |
14 Biologically Inspired Robot Control | 7 |
15 Sensors | 10 |
16 Actuators | 12 |
18 A Brief Survey of Current Robots and Associated Control Issues | 13 |
19 Concluding Remarks and Organization of the Book | 25 |
Control and Regulation in Biological Systems | 27 |
810 Concluding Remarks | 283 |
Locomotion in Animals and Robots with Four Six and Eight Legs | 285 |
92 Neural Control of Locomotion | 286 |
93 Walking Multilegged Robots | 287 |
94 SixLegged Walking Machines | 289 |
95 Locomotion in FourLegged Animals | 303 |
96 FourLegged Walking Machines | 304 |
97 FiniteState Models of Legged Locomotion | 321 |
22 Engineering and Biological Control Systems | 29 |
Control Architecture | 33 |
24 Other Biological Control Systems | 34 |
25 Nonlinearities in Biological Control Systems | 38 |
26 Cost Functions | 42 |
27 Control of Functional Morions in Humans | 43 |
29 Historical Background | 44 |
Fundamental Structural Elements | 45 |
32 Actuators for Robots | 47 |
33 Sensors for Robots | 57 |
34 Localization | 68 |
LowLevel Robot Control | 71 |
42 Robot Controller Design Principles | 76 |
43 Control of Multilink Structures | 79 |
Theory Advantages and Limitations | 82 |
45 Nonlinear Robot Control | 85 |
46 Adaptive Control and Other Approaches | 88 |
47 ModelFree Approaches to Control | 91 |
48 Uncertainty in Control System Design | 92 |
Basic Principles | 93 |
Software Architectures for Autonomous Robots | 97 |
52 Where Does Control Fit into Robot Software? | 98 |
53 A Brief History | 99 |
54 Hierarchical and Deliberative Architectures | 100 |
55 Reactive and BehaviorBased Architectures | 104 |
56 Hybrid ReactiveDeliberative Architectures | 107 |
57 Major Features of Hybrid Architectures | 110 |
The TropismBased Architecture | 113 |
The USC AVATAR Architecture for Autonomous Helicopter Control | 117 |
510 Open Architectures in Robotics | 121 |
511 Concluding Remarks | 122 |
Robot Learning | 125 |
62 Learning and Control | 126 |
63 Genera Issues in Learning by Robotic Systems | 128 |
64 Reinforcement Learning | 129 |
65 QLearning | 134 |
Learning to Avoid Obstacles Using Reinforcement Learning | 135 |
67 Learning Using Neural Networks | 140 |
Learning How to Grasp Objects of Different Shapes | 149 |
69 Evolutionary Algorithms | 153 |
Learning to Walk Using Genetic Algorithms | 156 |
Learning in the Tropism Architecture | 165 |
612 Learning by Imitation | 175 |
613 Whither Robot Learning? | 184 |
Robot Locomotion An Overview | 185 |
72 Wheeled Vehicles | 186 |
73 Tracked Vehicles | 197 |
74 Legged Robots | 199 |
75 Hopping Robots | 200 |
76 Serpentine Snake Robots | 203 |
77 Underwater Robotic Vehicles | 209 |
78 Biologically Inspired Underwater Robots | 217 |
79 Climbing and Other Unusual Locomotion Methods | 225 |
710 Flying Robots | 232 |
711 SelfReconfigurable Robots | 245 |
712 Concluding Remarks | 251 |
Biped Locomotion | 253 |
82 The Nature of Human Walking | 254 |
83 Musculoskeletal Dynamics | 256 |
84 Control of Human Locomotion | 258 |
85 Robotic Models of Biped Locomotion | 262 |
86 Some Biped Robots | 263 |
87 Mathematical Models of Biped Kinematics and Dynamics | 274 |
88 Modeling Compensatory Trunk Movements While Walking | 276 |
89 Mechanical Aids to Human Walking | 277 |
Control and Stability in the Quadruped Meno | 323 |
99 EightLegged Walking Machines | 327 |
910 Concluding Remarks | 332 |
Arm Motion and Manipulation | 333 |
102 Control of Arm Motion in Humans | 335 |
103 Robot Manipulators | 338 |
104 Some Typical Robot Arms | 341 |
105 Forward Kinematics of Manipulators | 347 |
106 Inverse Kinematics | 348 |
107 Dynamics | 350 |
108 Manipulator Control | 351 |
109 Alternative Approaches to Manipulator Control | 352 |
1010 Arm Prosthetics and Orthotics | 355 |
1011 Concluding Remarks | 361 |
Control of Grasping in Human and Robot Hands | 363 |
112 Reaching and Grasping | 365 |
113 Simple Robot End Effectors | 368 |
114 Multifingered Robot Hands | 371 |
The BelgradeUSC Hand | 378 |
116 Prosthetic Hands | 385 |
117 Concluding Remarks | 390 |
Control of Multiple Robots | 391 |
Sociobiology | 393 |
123 A Brief History of Multiple Robots | 395 |
124 Control Issues in AutonomousRobot Colonies | 399 |
Centralized Control of Very Simple Robots | 400 |
126 Some MultipleRobot Architectures | 402 |
127 Swarm and Cellular Robotics | 412 |
128 Communication among Multiple Robots | 415 |
129 Formation Control | 420 |
1210 Robot Soccer | 427 |
1211 Heterogeneous Robot Teams | 429 |
1212 Task Assignment | 431 |
1213 Design Issues in MultipleRobot Systems | 435 |
1214 Conclusions | 439 |
Humanoid Robots | 441 |
132 Historical Background | 444 |
133 FullBody Humanoids | 448 |
134 Interaction with Humans | 457 |
135 SpecialPurpose Humanoids | 463 |
136 Trends in Humanoid Research | 471 |
Localization Navigation and Mapping | 473 |
142 Biological Inspiration | 475 |
143 Robot Navigation | 478 |
144 Mapping | 483 |
Incremental Topological Mapping | 488 |
146 Localization | 494 |
147 Simultaneous Localization and Mapping | 504 |
149 Concluding Remarks | 507 |
The Future of Autonomous Robots | 509 |
152 Current Trends in Robotics | 510 |
153 HumanRobot Cooperation and Interaction | 512 |
154 Multirobot Systems | 513 |
156 Reconfigurability | 514 |
158 SelfOrganization SelfRepair Autonomous Evolution and SelfReplication | 515 |
159 The Potential Dangers of Robotics | 516 |
1510 Concluding Remarks | 518 |
Introduction to Linear Feedback Control Systems | 519 |
A2 The Transfer Function | 522 |
A3 Stability | 526 |
A4 Control System Design | 529 |
References | 531 |
557 | |
563 | |
Diğer baskılar - Tümünü görüntüle
Autonomous Robots: From Biological Inspiration to Implementation and Control George A. Bekey Sınırlı önizleme - 2005 |
Sık kullanılan terimler ve kelime öbekleri
Bu kitaba yapılan referanslar
The Path to Autonomous Robots: Essays in Honor of George A. Bekey Gaurav Sukhatme Sınırlı önizleme - 2008 |