About the Book
This is the second in a series of occasional reviews of theoretical and implementation issues in the field of robotics. International in scope, the twenty-four articles and reviews provide broad, in-depth, and concise coverage of five areas of current research: programming, planning, and learning; sensing and perception; kinematics and dynamics; motion and force control; and design, technology, and applications.Comparative reviews of selected articles emphasize recent results and provide clear links to previous work. These are augmented by brief synopses summarizing a particular subarea of research, which, along with several annotated bibliographies, bring together the results of many researchers and place them in historical perspective.ContributorsJean-Claude Latombe, Jean-Daniel Boissonnat, Jocelyne Pertin-Troccaz, Robert D. Howe, Mark R. Cutkosky, Konstantinos (Dino) Tarabanis, Roger Y. Tsai, David Lowe, Hugh F. Durrant-Whyte, John J. Leonard, Charles Wampler, Marc Renaud, J. Yves Fourquet, V. D. Sánchez A., G. Hirzinger, John M. Hollerbach, Ian W. Hunter, John Ballantyne, Paolo Dario, Renzo Valleggi
Table of Contents:
Part 1 Programming, planning, and learning: articles - motion planning in the presence of moving obstacles, Jean-Claude Latombe, minimal length curves and optimal paths, Jean-Daniel Boissonat, task level robot programming - on the HANDEY system, Jocelyne Pertin-Troccaz; reviews - robot motion planning, Jean-Claude Latombe, John Canny, planar sliding with dry friction, Suresh Goyal, et al. Part 2 Sensing and perception: articles - touch sensing for robotic manipulation and recognition, Robert D. Howe and Mark R. Cutkosky, sensor planning for robotic vision - a review, Konstantinos (Dino) Tarabanis and Rober Y. Tsai, solving for 3-D model parameters from the locations of image features, David Lowe, modeling sonar sensors, Hugh F. Durrant-Whyte and John J. Leonard; reviews - authenticating edges produced by zero-crossing algorithms, James J. Clark and Harlyn Baker; a few steps toward artificial 3-D vision, Olivier D. Faugeras, W. Eric L. Grimson. Part 3 Kinematics and dynamics: articles - wrist singularities - theory and practice, Charles Wampler; reviews - kinematic analysis and design of redundant manipulators, Joel W. Burdick and Vincent Hayward, singular configurations of parallel manipulators and Grassman geometry, Jean-Pierre Merlet and Jorge Angeles, a spatial operator algebra for manipulator modeling and control, G. Rodriquez, et al; on the inverse kinematics of redundant manipulators, Daniel R. Baker, et al; duality in mechanical properties of sequential and parallel manipulators, Vladimir Zamanov, et al. Part 4 Motion and force control: articles - time-optimal motions of robot manipulators including dynamics, Marc Renaud and J. Yves Fourquet, the state of the art of robot learning control using artificial neural networks - an overview, V.D. Sanchez A. and G. Hirzinger; reviews - the application of model-referenced adaptive control to robotic manipulators, S. Dubowsky, et al; is adaptive control necessary for manipulation robots, and if so, to what extent?, D. Stokic, et al. Part 5 Design, technology, and applications: articles - a comparative analysis of actuator technologies for robotics, John M. Hollerback, et al, microrobotics - shifting robotics technology toward a different scale world, Paolo Dario and Renzo Valleggi; reviews - robotics in service, Joseph F. Engelberger and Russell H. Taylor.
About the Author :
Oussama Khatib is a Senior Research Associate in the Computer Science Department at Stanford University. John J. Craig is Director of Robotics R&D at Silma, Inc., in Cupertino, California. Tomá s Lozano-Pé rez, is a Professor in the Electrical Engineering and Computer Science Department and Associate Director of the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology.
