About the Book
This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.
Table of Contents:
1. Introduction. 2. Learning Systems: Primer. 3. System Model: Manipulators and Mobile Robot. 4. System Dynamics. 5. Visual Perception. 6. Hand-eye Coordination - Eye to Hand and Eye in Hand. 7. Imitation Learning. 8. Visual Grasping. 9. 2-D and 3-D Motion Planning. 10. Mapping, Localization and Navigation. 11. Control of Multi-Robot Systems. 12. Application: Ware House Automation. 13. Application: Intelligent Control of Mobile Robots. 14. Application: Human Following Mobile Robots. 15. Conclusion.
About the Author :
Laxmidhar Behera received the BSc (engineering) and MSc (engineering) degrees from NIT Rourkela in 1988 and 1990, respectively. He received the PhD degree from IIT Delhi in 1996. He is currently working as the professor in the Department of Electrical Engineering, IIT Kanpur. He is also a guest professor in Hangzhou Dinazi University, China. He has worked as an assistant professor at BITS Pilani during 1995-1999 and pursued the postdoctoral studies in the German National Research Center for Information Technology, GMD, Sank Augustin, Germany, during 2000-2001. He worked as the reader in Intelligent Systems Research Center (ISRC), University of Ulster, United Kingdom during 2008-2010. He has also worked as a visiting researcher/professor at FHG, Germany, and ETH, Zurich, Switzerland. He has more than 200 papers to his credit published in refereed journals and conference proceedings. His research interests include intelligent control, robotics, semantic signal/ music processing, neural networks, control of cyber-physical systems and cognitive modeling. He is Fellow of Indian National Academy of Engineering.
Swagat Kumar obtained his Bachelor’s degree in Electrical Engineering from North Orissa University in 2001 and Master’s and PhD degree in Electrical Engineering from IIT Kanpur in 2004 and 2009 respectively. He was a post-doctoral researcher at Kyushu University in Japan during 2009-10. He, then, worked as an assistant professor at IIT Jodhpur for about two years before joining TCS Research in 2012. He currently heads the robotics research group at TATA Consultancy Services in New Delhi. His research interests are in Robotics, Computer Vision and Machine Learning. He is a member of IEEE Robotics and Automation Society. He has co-authored several journals, conference papers and patents.
Prem Kumar Patchaikani received the B.E. degree in electrical and electronics engineering from the Thiagarajar College of Engineering, Madurai, India, in 2003, the MTech. degree in power and control from IIT Kanpur, Kanpur, India, in 2005, and the Ph.D. degree from the Department of Electrical Engineering, IIT Kanpur, in 2012. He was a Design Engineer with Larsen & Toubro Ltd., Chennai, India, from 2005 to 2006. He was a Visiting Researcher with the Intelligent System Research Center, University of Ulster, U.K., from 2008 to 2009, and in 2011. He is currently a Research Engineer with General Electric, Bengaluru, India. His current research interests include visual servoing, redundant manipulator s, neural networks and fuzzy logic- based control, adaptive critic, system identification, and IC engine controls.
Ranjith Ravindranathan Nair received the Master’s degree in guidance and navigational control from the College of Engineering, Thiruvananthapuram, Kerala, India, in 2007. He has completed his Ph. D in control and automation from the Department of Electrical Engineering, Indian Institute of Technology (IIT) Kanpur, India. He is currently working as a senior project engineer in Intelligent Systems and Control Lab at IIT Kanpur, India. His primary research interests include nonlinear control systems, multi-agent formation control, cyber-physical systems, mobile robotics, and multi-satellite systems.
Samrat Dutta received the B. Tech degree in electrical and electronics engineering from the Siliguri Institute of Technology, Siliguri, India, in 2005, and the MTech. degree in electrical engineering with a specialization in control system from the Department of Electrical Engineering, Jadavpur University, Kolkata, India, in 2010. He is currently pursuing the Ph.D. degree in control and Automation with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India. He was a Cluster Head with Sterling Communications Ltd., Chennai, India, from 2005 to 2007, where he was involved in Tata Teleservices mobile network infrastructure projects in India. His current research interests include neural networks and fuzzy logic-based control, adaptive critic, system identification, robotic manipulators, learning by demonstrations, and machine learning.
