Redundancy in Robot Manipulators and Multi-Robot Systems

✍ Scribed by Ravi Balasubramanian, Aaron M. Dollar (auth.), Dejan Milutinović, Jacob Rosen (eds.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2013
• Tongue: English
• Leaves: 239
• Series: Lecture Notes in Electrical Engineering 57
• Edition: 1
• Category: Library

✦ Synopsis

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 workshop was envisioned as a dialog between researchers from two separate, but obviously related fields 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.

✦ Table of Contents

Front Matter....Pages 1-7
Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators....Pages 1-13
Low-Cost Multi-robot Localization....Pages 15-33
Using Torque Redundancy to Optimize Contact Forces in Legged Robots....Pages 35-51
Exploiting Heterogeneity in Robotic Networks....Pages 53-75
Variational Analysis of Snakelike Robots....Pages 77-91
Robustness in the Presence of Task Differentiation in Robot Ensembles....Pages 93-108
Cooperating Mobile Cable Robots: Screw Theoretic Analysis....Pages 109-123
Deployment Algorithms for Dynamically Constrained Mobile Robots....Pages 125-143
Kalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations....Pages 145-166
M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds....Pages 167-181
Individual Control of Redundant Skeletal Muscles Using an Exoskeleton Robot....Pages 183-199
Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements....Pages 201-240
Back Matter....Pages 0--1

✦ Subjects

Robotics and Automation; Artificial Intelligence (incl. Robotics); Computational Intelligence