Robotics Books

Book SynopsisLearn robotics through magic, or enhance your magic with robotics! This book is a beginner's guide to creating robotics-infused magic. You'll be introduced to simple DIY electronics and Arduino programming, and you will learn how to use those tools to create a treasure trove of magic bots and effects, with readily-sourced materials and everyday objects. It's magic through the lens of the Maker Movement, with a dedication to accessibility -- cardboard meets Arduino meets magic! All ages, backgrounds, and abilities will find clever, fun projects within these pages that challenge their creativity and explode their imagination.

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Book SynopsisThis book covers three main types of agricultural systems: the use of robotics, drones (unmanned aerial vehicles), and satellite-guided precision farming methods. Some of these are well refined and are currently in use, while others are in need of refinement and are yet to become popular. The book provides a valuable source of information on this developing field for those involved with agriculture and farming and agricultural engineering. The book is also applicable as a textbook for students and a reference for faculty.Table of ContentsPreface. Push Button Agriculture: An Introduction. Robotics in Agriculture: Soil Fertility and Crop Management. Drones in Agriculture: Soil Fertility and Crop Management. Satellite-Guided Agriculture: Soil Fertility and Crop Management. Push Button Agriculture: Summary and Future Course.

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Book SynopsisThe recent pandemic has forced researchers to adapt technologies such as robotics and AI in the healthcare field. This book, Robotics and Automation in Healthcare: Advanced Applications, explores these new technologies by focusing on important issues related to the employment of robotics and automation in healthcare, such as in medical diagnosis, treatment, and surgery.The volume reviews wireless charging of implantable pacemakers, considers smart bot design for library building of medical colleges, and discusses strain distribution in biomechanical systems. Other topics included in the book are medical imaging, drone technology, 3D printing, and image processing techniques. The application and importance of actuators in medical devices, especially during surgery, is discussed, as are wearable devices for pre-identification of seizure development. The volume also looks at a decision support system for detection of suitable robots and early detection of diseases with the support of image processing techniques. The application of nano-robots in healthcare is also explored.Providing advanced information and insight into robotics, wearable devices, and applications of image processing in healthcare field, this volume will be helpful to those in communications and electronics engineering as well as those at the forefront of smart technology in healthcare.

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Book Synopsis'A lucid, balanced and engaging tour of one of the most important phenomena of this century.' – Steven PinkerFrom the face recognition on your smartphone to the management of our global economy, you cannot live in the modern world without interacting with, or being impacted by, artificial intelligence and robots. But how did this happen? And what does it mean for our lives now and in the future? Is it helping to change our world for the better or creating new problems? 10 Short Lessons in Artificial Intelligence & Robotics examines these key questions and more in this essential guide to the twenty-first century’s most powerful technology.About the series: The Pocket Einstein series is a collection of essential pocket-sized guides for anyone looking to understand a little more about some of the most relevant science that affects us all in the twenty-first century. Broken down into ten simple lessons and written by leading experts in their field, discover the ten most important takeaways from those areas of science we should all know more about.Trade ReviewArtificial Intelligence is both a fascinating topic and a pressing issue. But much of the commentary has been not-so-intelligent, discussing this technology as an awesome or terrifying form of black magic. Peter Bentley is a true expert, and has given us a lucid, balanced and engaging tour of one of the most important phenomena of this century. -- Steven Pinker, Johnstone Professor of Psychology, Harvard University, and author of How the Mind Works and Enlightenment Now.The best, clearest, and most readable short guide to this vital area. You'll find out where we are now, how we got here, and even where we might be going. -- Owen Holland, professor of cognitive robotics in the Sackler Centre for Consciousness Science at the University of SussexAn inviting romp through the ongoing history of AI and robotics, as told by one its major players. Not only does Professor Bentley bring to life the many successes, failures and breath-taking reversals of the field, but he helpfully shines a light into the many corners of thought that bear upon the quest to create smart machines. His story is all the more gripping because it reveals how chasing artificial intelligence demands the very best of human intelligence: creativity, diversity of thought, and intellectual bravery. Highly recommended for those who wish to join the adventure. -- Josh Bongard, professor of evolutionary robotics at the University of Vermont, and a 2010 PECASE awardeePeter Bentley is a brilliant AI researcher ... In this book, he gives us an engaging description of the most important advances in AI and robotics that will change our lives. The easy-flowing narrative, interesting anecdotes and curiosities that pepper the book make it difficult to put it down before you have turned the last page. -- Dario Floreano, Director of the Laboratory of Intelligent Systems at the Swiss Federal Institute of Technology in Lausanne (EPFL) and co-author of Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines

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Book SynopsisThe rise of artificial intelligence and its countless branches have caused many professional industries to rethink their traditional methods of practice and develop new techniques to keep pace with technological advancement. The continued use of intelligent technologies in the professional world has propelled researchers to contemplate future opportunities and challenges that artificial intelligence may withhold. Significant research is a necessity for understanding future trends of artificial intelligence and the preparation of prospective issues. Analyzing Future Applications of AI, Sensors, and Robotics in Society provides emerging research exploring the potential uses and future challenges of intelligent technological advancements and their impact in education, finance, politics, business, healthcare, and engineering. Featuring coverage on a broad range of topics such as neuronal networks, cognitive computing, and e-health, this book is ideally designed for practitioners, researchers, scientists, executives, strategists, policymakers, academicians, government officials, developers, and students seeking current research on future societal uses of intelligent technology.

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Book SynopsisCreate end-to-end systems that can power robots with artificial vision and deep learning techniquesKey Features Study ROS, the main development framework for robotics, in detail Learn all about convolutional neural networks, recurrent neural networks, and robotics Create a chatbot to interact with the robot Book DescriptionArtificial Vision and Language Processing for Robotics begins by discussing the theory behind robots. You'll compare different methods used to work with robots and explore computer vision, its algorithms, and limits. You'll then learn how to control the robot with natural language processing commands. You'll study Word2Vec and GloVe embedding techniques, non-numeric data, recurrent neural network (RNNs), and their advanced models. You'll create a simple Word2Vec model with Keras, as well as build a convolutional neural network (CNN) and improve it with data augmentation and transfer learning. You'll study the ROS and build a conversational agent to manage your robot. You'll also integrate your agent with the ROS and convert an image to text and text to speech. You'll learn to build an object recognition system using a video.By the end of this book, you'll have the skills you need to build a functional application that can integrate with a ROS to extract useful information about your environment.What you will learn Explore the ROS and build a basic robotic system Understand the architecture of neural networks Identify conversation intents with NLP techniques Learn and use the embedding with Word2Vec and GloVe Build a basic CNN and improve it using generative models Use deep learning to implement artificial intelligence(AI)and object recognition Develop a simple object recognition system using CNNs Integrate AI with ROS to enable your robot to recognize objects Who this book is forArtificial Vision and Language Processing for Robotics is for robotics engineers who want to learn how to integrate computer vision and deep learning techniques to create complete robotic systems. It will prove beneficial to you if you have working knowledge of Python and a background in deep learning. Knowledge of the ROS is a plus.Table of ContentsTable of Contents Fundamentals of Robotics Introduction to Computer Vision Fundamentals of Natural Language Processing Neural Networks with NLP Convolutional Neural Networks Robot Operating System Build a Conventional Agent to Manage the Robot Object Recognition to Guide a Robot Using CNNs Computer Vision for Robotics

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Book SynopsisThis book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.Table of ContentsChapter 1. Bipedal Robots and Walking 1.1. Introduction 1 1.2. Biomechanical approach 2 1.2.1. Biomechanical system: a source of inspiration 2 1.2.2. Skeletal structure and musculature 9 1.3. Human walking 11 1.3.1. Architecture 11 1.3.2. Walking and running trajectory data. 13 1.3.3. Study cases 18 1.4. Bipedal walking robots: state of the art 21 1.4.1. A brief history 21 1.4.2. Japanese studies and creations 24 1.4.3. The situation in France 27 1.4.4. General evolution tendencies 31 1.5. Different applications 32 1.5.1. Service robotics 33 1.5.2. Robotics and dangerous terrains 35 1.5.3. Toy robots and computer animation in cinema 35 1.5.4. Defense robotics 37 1.5.5. Medical prostheses 39 1.5.6. Surveillance robots 40 1.6. Conclusion 40 1.7. Bibliography 41 Chapter 2. Kinematic and Dynamic Models for Walking 2.1. Introduction 47 2.2. The kinematics of walking 48 2.2.1. DoF of the locomotion system 48 2.2.2. Walking patterns 49 2.2.3. Generalized coordinates for a sagittal step 53 2.2.4. Generalized coordinates for three-dimensional walking 57 2.2.5. Transition conditions 66 2.3. The dynamics of walking 70 2.3.1. Lagrangian dynamic model 71 2.3.2. Newton-Euler’s dynamic model 87 2.3.3. Impact model 98 2.4. Dynamic constraints. 103 2.4.1. CoP and equilibrium constraints 103 2.4.2. Non-sliding constraints 116 2.5. Complementary feasibility constraints 117 2.5.1. Respecting the technological limitations 118 2.5.2. Non-collision constraints 119 2.6. Conclusion 123 2.7. Bibliography 123 Chapter 3. Design Tools for Making Bipedal Robots 3.1. Introduction 127 3.2. Study of influence of robot body masses 128 3.2.1. Case 1: the three-link robot 129 3.2.2. Case 2: the five-link robot 147 3.3. Mechanical design: the architectures carried out 165 3.3.1. The structure of planar robots 165 3.3.2. 3D robot structures 168 3.3.3. Technology of inter-body joints 172 3.3.4. Drive technology 174 3.4. Actuators 181 3.4.1. Actuator types 181 3.4.2. Characteristics of electric actuators 186 3.4.3. Elements of choice for robotic actuators 190 3.4.4. Comparing actuator performances 193 3.4.5. Performances of transmission-actuator associations 202 3.5. Sensors 207 3.5.1. Measuring 207 3.5.2. Frequently used sensors 208 3.5.3. Characteristics and integration 209 3.5.4. Sensors of inertial localization 210 3.6. Conclusion 212 3.7. Appendix 213 3.7.1. Geometric model 213 3.7.2. Dynamic model 213 3.8. Bibliography 215 Chapter 4. Walking Pattern Generators 4.1. Introduction 219 4.2. Passive and quasi-passive dynamic walking 220 4.2.1. Passive walking 220 4.2.2. Quasi-passive dynamic walking 222 4.3. Static balance walking 227 4.4. Dynamic synthesis of walking 228 4.4.1. Performance criteria for walking synthesis 228 4.4.2. Formalizing the problem of dynamic optimization 232 4.5. Walking synthesis via parametric optimization 236 4.5.1. Approximating the control variables 237 4.5.2. Parameterizing the configuration variables 238 4.5.3. Parameterizing the Lagrange multipliers 246 4.5.4. Formulation of the parametric optimization problem 250 4.5.5. A parametric optimization example 255 4.6. Conclusion 261 4.7. Bibliography 262 Chapter 5. Control 5.1. Introduction 267 5.2. Hybrid systems and stability study 269 5.3. Taking into account the unilateralism of the contact constraint 273 5.3.1. Computed torque control 273 5.4. Online modification of references 282 5.4.1. General principle 282 5.4.2. The ZMP’s imposed evolution 285 5.4.3. Bounded evolution of the ZMP 292 5.5. Taking an under-actuated phase into account 296 5.6. Taking the double support phase into account 301 5.7. Intuitive and neural network methods 306 5.7.1. Intuitive methods 306 5.7.2. Neural network method 311 5.8. Passive movements 318 5.9. Conclusion 322 5.10. Bibliography 323 Index 327

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Book SynopsisMicrorobotics is an emerging and booming area with many and various applications, including in fields such as industrial/manufacturing robotics, medical robotics, and laboratory instrumentation. Microrobotics for Micromanipulation presents for the first time, in detail, a treatment of the field of robotics dedicated to handling objects of micrometer dimensions. At these dimensions, the behavior of objects is significantly different from the better known, larger scales, which leads to implementation techniques that can be radically different from the more commonly used solutions. This book details the behaviors of objects at the micrometer scale and provides robotics solutions that are suitable, in terms of actuators, grippers, manipulators, environmental perception, and microtechnology. Worked examples are included in the book - enabling engineers, students and researchers to familiarize themselves with this emerging area and to contribute to its development.Table of ContentsForeword xvii Introduction xxi Chapter 1. The Physics of the Microworld 1Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER 1.1. Introduction 1 1.2.Details of the microworld 4 1.3.Surface forces 8 1.4.Contact forces 40 1.5. Experimental analysis of forces for micromanipulation 48 1.6.Forces in liquidmedia 60 1.7. Friction and roughness 78 1.8.Relevant parameters and indicators 85 1.9.Exercises 88 1.10.List of symbols 95 Chapter 2. Actuators for Microrobotics 99Nicolas CHAILLET, Moustapha HAFEZ and Pierre LAMBERT 2.1. Introduction 99 2.2.Principles of motion and guiding 100 2.3.Classification of actuators 111 2.4.Piezoelectric actuators 113 2.5.Electrostatic actuators 126 2.6.Thermal actuators 141 2.7.Electro-activepolymers 160 2.8.Magneto-/electrorheologicalfluids 165 2.9.Summary 170 2.10.Suppliers of active materials 170 2.11.Exercises 173 Chapter 3. Microhandling and Micromanipulation Strategies 179Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER 3.1. Introduction 179 3.2. Contact-free micromanipulation and positioning 180 3.3. Contact-based micromanipulation and positioning 197 3.4.Release strategies 220 3.5.Summary 230 3.6.Conclusion 234 3.7.Exercises 234 Chapter 4. Architecture of a Micromanipulation Station 243Joel AGNUS, Mehdi BOUKALLEL, Cedric CLEVY, Sounkalo DEMBELE and Stephane REGNIER 4.1. Introduction 243 4.2.Kimenatics 244 4.3.Visual perception 261 4.4.Force sensing 283 4.5. Introduction to sensor-based linear multivariable control 294 4.6. Application to automation and remote operation for micromanipulation tasks 300 4.7.Environmental control 318 4.8.Applications 324 4.9.Conclusion 334 4.10.Exercises 334 Chapter 5. Microtechnologies and Micromanipulation 335Lionel BUCHAILLOT 5.1. Silicon surface machining processes 335 5.2.Early demonstrators 343 5.3. Standard processes and fabrication examples 346 5.4.Alternative surface machining processes 352 5.5.Co-integrationwith electronics 356 5.6.Consistency of surface micromachining 360 5.7.Conclusion 367 Chapter 6. Future Prospects 369Philippe LUTZ and Stephane REGNIER 6.1.Micromachining 369 6.2.Nanomanipulation 395 Chapter 7. Solutions to Exercises 415 7.1.Chapter 1 415 7.2.Chapter 2 423 7.3.Chapter 3 429 7.4.Chapter 4 443 Bibliography 447 List of Authors 481 Index 483

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Book SynopsisIn the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.Trade Review“Overall this book delivers necessary backgrounds, basic and advanced nonlinear control algorithms and the associated challenges such as visual navigation and communication for those who are interested in studying and developing UAV formation flight strategies with guaranteed stability and performance.” (The Aeronautical Journal, 3 February 2015)Table of ContentsChapter 1. Introduction 1 J.A. GUERRERO 1.1. Motivation 1 1.2. Historical background 4 1.3. Flight control 9 1.4. Flight formation control 11 1.5. Outline of the book 13 1.6. Bibliography 15 Chapter 2. Theoretical Preliminaries 19 J.A. GUERRERO 2.1. Passivity 19 2.2. Graph theory 20 2.3. Robustness problems 21 2.4. Bibliography 25 Chapter 3. Multiagent Coordination Strategies 27 J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA 3.1. Introduction 28 3.2. Controllability and observability of interconnections 28 3.3. Formation leader tracking 37 3.4. Time-varying trajectory tracking 40 3.5. Linear high-order multiagent consensus 44 3.6. Conclusion 49 3.7. Bibliography 50 Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51 J.A. GUERRERO, G. ROMERO 4.1. Introduction 52 4.2. Robust control design 54 4.3. Robust stability analysis 56 4.4. Robust stability of time-delay systems 61 4.5. Application to multiagent systems 62 4.6. Conclusions 73 4.7. Bibliography 73 Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75 Y.-C. LIU, N. CHOPRA 5.1. Summary 75 5.2. Introduction 75 5.3. Problem formulation 77 5.4. Adaptive controlled synchronization on strongly connected graphs 79 5.5. Robust controlled synchronization on strongly connected graph 83 5.6. Numerical examples 87 5.7. Conclusions 93 5.8. Appendix 94 5.9. Bibliography 95 Chapter 6. Modeling and Control of Mini UAV 99 G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO 6.1. Introduction 99 6.2. General model 101 6.3. Control of a mini tailsitter 103 6.4. Quad-tilting rotor convertible MAV 117 6.5. Concluding remarks 131 6.6. Bibliography 132 Chapter 7. Flight Formation Control Strategies for Mini UAVs 135 J.A. GUERRERO 7.1. Introduction 135 7.2. Formation geometry 137 7.3. Communication network 138 7.4. Dynamic model 139 7.5. Formation flying control based on coordination 142 7.6. Formation flying control based on nested saturations 148 7.7. Trajectory-tracking control 153 7.8. Simulation results 158 7.9. Conclusions 162 7.10. Bibliography 162 Chapter 8. Formation Based on Potential Functions 165 L. GARCÍA, A. DZUL 8.1. Introduction 165 8.2. Dynamical model 166 8.3. Formation control 167 8.4. Position control 170 8.5. Simulation results 183 8.6. Conclusions 189 8.7. Bibliography 189 Chapter 9. Quadrotor Vision-Based Control 191 J.E. GOMEZ-BALDERAS, J.A. GUERRERO, S. SALAZAR, R. LOZANO, P. CASTILLO 9.1. Introduction 191 9.2. Quadrotor dynamic model and control 194 9.3. Computer vision preliminaries 197 9.4. Tracking of a visual target 201 9.5. Tracking of a visual line 209 9.6. Embedded architecture 214 9.7. Experimental results 214 9.8. Conclusions 221 9.9. Bibliography 221 Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons 225 L.R. GARCÍA CARRILLO, J.A. GUERRERO, R. LOZANO 10.1. Introduction 225 10.2. Problem statement 227 10.3. Dynamic model and control of a quadrotor 228 10.4. Vision-based position estimation 229 10.5. Coordination position control of two quadrotors 235 10.6. Architecture of the experimental platforms 237 10.7. Experimental results 240 10.8. Conclusions and future work 242 10.9. Bibliography 243 Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields 247 J.A. GUERRERO, Y. BESTAOUI, R. LOZANO 11.1. Introduction 247 11.2. Preliminaries 250 11.3. Path planning 251 11.4. Quadrotor formation control scheme 258 11.5. Quadrotor trajectory-tracking control 258 11.6. Simulation results 259 11.7. Conclusions and future work 264 11.8. Bibliography 264 Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control 267 J.A. GUERRERO, Y. CHALLAL, P. CASTILLO 12.1. Introduction 267 12.2. Multiquadrotor consensus 269 12.3. Multiagent consensus over wireless networks 272 12.4. Quadrotor consensus over wireless networks 275 12.5. Simulation results 278 12.6. Conclusions and future work 282 12.7. Bibliography 282 Chapter 13. MAC Protocol for Wireless Communications 285 A. MENDEZ, M. PANDURO, O. ELIZARRARAS, D. COVARRUBIAS 13.1. Introduction 285 13.2. Protocols of medium access control 287 13.3. Proposed MAC protocol 296 13.4. Experimental setup and results 299 13.5. Conclusions 300 13.6. Acknowledgments 301 13.7. Bibliography 301 Chapter 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance 305 A. REYNA, M.A. PANDURO, A. MENDEZ 14.1. Introduction 305 14.2. Design of planar antenna arrays 306 14.3. Design of concentric ring arrays 314 14.4. Discussions and open problems 319 14.5. Conclusions 320 14.6. Acknowledgments 320 14.7. Bibliography 320 List of Authors 323 Index 325

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Book SynopsisIn this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and mature clinical application areas. It also presents the major approaches in terms of design and control including man-machine interaction modes. A large state of the art is presented and many examples from the literature are included and thoroughly discussed. It aims to provide both a broad and summary view of this very active domain as well as keys to understanding the evolutions of the domain and to prepare for the future. An insight to clinical evaluation is also proposed, and the book is finished with a chapter on future developments for intra-body robots.Table of ContentsIntroduction xi Chapter 1. Characteristics and State of the Art 1 Etienne DOMBRE, Michel DE MATHELIN and Jocelyne TROCCAZ 1.1 Introduction 1 1.2. State of the art 7 1.3. Conclusion 42 1.4. Bibliography 42 Chapter 2. Medical Robotics in the Service of the Patient 55 Alexandre MOREAU-GAUDRY, Philippe CINQUIN 2.1. Introduction 55 2.2. A cycle of medical service growth 58 2.3. A case study: the ViKY robotic endoscope support system 64 2.4. Conclusion 67 2.5. Bibliography 67 Chapter 3. Inter-operative Sensors and Registration 69 Jocelyne TROCCAZ 3.1. Introduction 69 3.2. Intra-operative sensors 72 3.3. Principles of registration 76 3.4. Case studies 87 3.5. Discussion and conclusion 96 3.6. Bibliography 97 Chapter 4. Augmented Reality 101 Stéphane NICOLAU, Luc SOLER, Jacques MARESCAUX 4.1. Introduction101 4.2. 3D modeling of abdominal structures and pathological structures 104 4.3. 3D visualization system for planning 107 4.4. Interactive AR 108 4.5. Automatic AR 110 4.6. Taking distortions into account 122 4.7. Case Study 124 4.8. Conclusions 129 4.9. Bibliography 130 Chapter 5. Design of Medical Robots 141 Etienne DOMBRE, Philippe POIGNET and François PIERROT 5.1. Introduction 141 5.2. From the characterization of gestures to the design of robots 145 5.3. Design methodologies 157 5.4. Technological choices 165 5.5. Security 167 5.6. Conclusion 171 5.7. Bibliography 172 Chapter 6. Vision-based Control 177 Jacques GANGLOFF, Florent NAGEOTTE and Philippe POIGNET 6.1. Introduction 177 6.2. Sensors 183 6.3. Acquisition of the measurement 193 6.4. Control 216 6.5. Perspectives 224 6.6. Bibliography 225 Chapter 7. Interaction Modeling and Force Control 233 Philippe POIGNET and Bernard BAYLE 7.1. Modeling interactions during medico-surgical procedures 233 7.2. Force control 243 7.3. Force control strategies 244 7.4. Conclusion 263 7.5. Bibliography 263 Chapter 8. Tele-manipulation 269 Bernard BAYLE and Laurent BARBÉ 8.1. Introduction 269 8.2. Tele-manipulation and medical practices 271 8.3. Tele-manipulation with force feedback 278 8.4. Bibliography 298 Chapter 9. Comanipulation 303 Guillaume MOREL, Jérôme SZEWCZYK and Marie-Aude VITRANI 9.1. Introduction 303 9.2. General principles of comanipulation 309 9.3. Serial comanipulation: intelligent active instrumentation 316 9.4. Parallel comanipulation 331 9.5. A human in the loop 343 9.6. Bibliography 346 Chapter 10. Towards Intracorporeal Robotics 351 Etienne DOMBRE, Nicolas CHAILLET and Michel DE MATHELIN 10.1. Introduction 351 10.2. Mini-manipulators/tele-operated instrument holders 352 10.3. Robotized colonoscopes and autonomous capsules 357 10.4. Active catheters 362 10.5. Evolution of surgical robotics 366 10.6. Additional information 386 10.7. Bibliography 388 Conclusion 397 Notations 399 Medical Glossary 401 List of Authors 407 Index 409

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Book SynopsisA promising long-term evolution of surgery relies on intracorporeal microrobotics. This book reviews the physical and methodological principles, and the scientific challenges to be tackled to design and control such robots. Three orders of magnitude will be considered, justified by the class of problems encountered and solutions implemented to manipulate objects and reach targets within the body: millimetric, sub-millimetric in the 10- 100 micrometer range, then in the 1-10 micrometer range. The most prominent devices and prototypes of the state of the art will be described to illustrate the benefit that can be expected for surgeons and patients. Future developments nanorobotics will also be discussed.Table of ContentsIntroduction ix Chapter 1. Intracorporeal Millirobotics 1 1.1. Introduction 1 1.2. Principles 2 1.2.1. Partially intracorporeal devices with active distal mobilities 2 1.2.2. Intracorporeal manipulators 5 1.2.3. Intracorporeal mobile devices 16 1.3. Scientific issues 20 1.3.1. Modeling 20 1.3.2. Design 24 1.3.3. Actuation and transmission 26 1.3.4. Sensing 30 1.3.5. Control 34 1.4. Examples of devices 37 1.4.1. The robotic platform of the Araknes project 39 1.4.2. A snake-like robot made of concentric super-elastic tubes 44 1.4.3. MICRON: a handheld robotized instrument for ophthalmic surgery 48 1.5. Conclusion 52 Chapter 2. Intracorporeal Microrobotics 55 2.1. Introduction 55 2.2. Novel paradigms for intracorporeal robotics 56 2.2.1. Classification of intracorporeal robots 56 2.2.2. Physical principles in use at microscale 57 2.3. Methods 66 2.3.1. Models 66 2.3.2. Design 71 2.3.3. Actuation 75 2.3.4. Sensing 80 2.3.5. Control 86 2.4. Devices 97 2.4.1. Magnetically guided catheters 97 2.4.2. Distal tip mobility for endoluminal microphonosurgery 98 2.4.3. Autonomous active capsules 102 2.4.4. Magnetically guided capsules 104 2.5. Conclusion 107 Chapter 3. In vitro Non-Contact Mesorobotics 109 3.1. Introduction 109 3.2. Principles 111 3.2.1. Introduction 111 3.2.2. Laser trapping 114 3.2.3. Electrostatic principles 118 3.3. Scientific challenges 122 3.3.1. Modeling 122 3.3.2. Design 129 3.3.3. Perception 131 3.3.4. Control 131 3.4. Experimental devices 132 3.4.1. Laser trapping 132 3.4.2. DEP systems 139 3.5. Conclusion 147 Chapter 4. Toward Biomedical Nanorobotics 149 4.1. Applicative challenges 149 4.1.1. In vitro applications 149 4.1.2. Nanoassembly for biomedical applications 150 4.1.3. In vivo applications 150 4.2. Scientific challenges 150 4.2.1. New paradigm removing frontiers between sciences 150 4.2.2. Energy sources 151 4.2.3. How far away is this future? 152 Bibliography 153 Index 183

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Book SynopsisThe objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.Table of ContentsIntroduction xiii Mathieu GROSSARD, Stéphane RÉGNIER and Nicolas CHAILLET Chapter 1. Design of Integrated Flexible Structures for Micromanipulation 1 Mathieu GROSSARD, Mehdi BOUKALLEL, Stéphane RÉGNIER and Nicolas CHAILLET 1.1. Design and control problems for flexible structures in micromanipulation 2 1.2. Integrated design in micromechatronics 11 1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 25 1.4. Conclusion 31 1.5. Bibliography 32 Chapter 2. Flexible Structures’ Representation and Notable Properties in Control 37 Mathieu GROSSARD, Arnaud HUBERT, Stéphane RÉGNIER and Nicolas CHAILLET 2.1. State-space representation of flexible structures 38 2.2. The concepts of modal controllability and observability 47 2.3. Reduction of models 52 2.4. Contribution of modal analysis criteria to topological optimization 56 2.5. Conclusion 68 2.6. Bibliography 69 Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures 73 Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY 3.1. Introduction 73 3.2. Finite-dimensional systems 75 3.3. Infinite-dimensional systems 95 3.4. Conclusion 111 3.5. Bibliography 112 Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators 115 Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE 4.1. Introduction 115 4.2. Piezoelectric microactuators 116 4.3. Thermal microactuators 128 4.4. Conclusion 142 4.5. Bibliography 142 Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145 Javier MARTIN AMEZAGA and Mathieu GROSSARD 5.1. Robotic gripper systems 146 5.2. Actuation architecture and elastic elements 153 5.3. Structural flexibility 166 5.4. Conclusion 177 5.5. Bibliography 178 Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation 181 Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER 6.1. Introduction 181 6.2. Human dexterous manipulation as a basis for robotic manipulation 182 6.3. Technologies for tactile sensing 188 6.4. A comparison of sensor solutions and sensing techniques 213 6.5. The Nail sensor 214 6.6. From the Nail sensor to tactile skin 220 6.7. From tactile skin to artificial touch system 225 6.8. Applications and signal analysis 228 6.9. Summary and conclusion 233 6.10. Bibliography 235 Chapter 7. Flexures for High-Precision Manipulation Robots 243 Reymond CLAVEL, Simon HENEIN and Murielle RICHARD 7.1. High-precision industrial robots background 243 7.2. Kinematic analysis of simple flexures 248 7.3. Design method of parallel modular kinematics for flexures 260 7.4. Example of the Legolas 5 robot design 264 7.5. Bibliography 273 Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints 275 Maria MAKAROV and Mathieu GROSSARD 8.1. Introduction 275 8.2. Modeling 276 8.3. Identification 284 8.4. Motion control 295 8.5. Conclusion 310 8.6. Bibliography 310 Chapter 9. Dynamic Modeling of Deformable Manipulators 321 Frédéric BOYER and Ayman BELKHIRI 9.1. Introduction 321 9.2. Newton–Euler model of an elastic body 324 9.3. Kinematic model of a deformable manipulator 337 9.4. Dynamic model of a deformable manipulator 340 9.5. Example 342 9.6. Conclusion 346 9.7. Bibliography 346 Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities 349 Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and Edouard LAROCHE 10.1. Introduction 349 10.2. LTI methodology 350 10.3. Toward an LPV methodology 359 10.4. Conclusion 379 10.5. Bibliography 379 List of Authors 383 Index 385

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Book SynopsisThis exciting book breaks new ground by introducing the amateur to the ideas and concepts, both theoretical and practical, of robotics - a nascent discipline which will radically change the way we work. Although today we use the term 'robots', in the future other terms will have to be coined in order to describe their utility & capabilities. The book is divided into two sections: 1: How and why robots work and how they are controlled. 2: How to make a simple two-legged humanoid robot that can be programmed to walk. There are no complicated formulae or equations to grapple with or complicated circuit diagrams to decipher, and you don't have to be either a machinist or a programmer - everything is presented in clear, concise, everyday English. The robot can be built quickly on a workbench, or even a kitchen table, with a minimum number of handtools, and all the parts are easily available in the UK and the USA. This is a fascinating and unique book which explains the basics of a subject which is the next generation of model engineering, combining construction skills with computer programming and teaches you to build and run a working robot which can be controlled from any personal computer.Table of ContentsHistory and Future. The Modern Robot. Mobile Robots. Running Motors. Encoders and Amplifiers. Sensors, Input and Output. Computer and Software. Robot Control Language. Robotic Vision. Selecting a Robot Design for Building. Skills, Tools, Time & Materials. Making the Walking Robot. Programming. Short Glossary of Robotic Terms. Table of ASCII Values. Scott Edwards Controller Information. Information on Software Discs. Drawing and Construction Notes. Component Supplier Information.

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Book SynopsisThe Official Raspberry Pi Handbook is fully updated for Raspberry Pi in 2024. Packed with all the information beginners need to use their new Raspberry Pi computer. And the best projects from the year for long-term Raspberry Pi enthusiasts. Learn how to set up the Raspberry Pi, install an operating system, and start using Raspberry Pi OS. Follow step-by-step guides to code animations and games using both Scratch and Python languages. Create incredible computing projects with electronic components. The Official Raspberry Pi Handbook 2024 the biggest book of the year for the Raspberry Pi community and a must-buy for all Raspberry Pi owners.

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Book SynopsisThis book is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. The book brings together 43 peer-reviewed papers. They report on the latest scientific and applied achievements. The main theme that connects them is the movement of robots in the most diverse areas of application.Table of ContentsAdvances in Robot Kinematics Facts and Thoughts.- Inverse Kinematics Using a Converging Paths Algorithm.- Design parameters influence on the static workspace and the stiffness range of a tensegrity mechanism.- Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance.- A Compliant Linkage for Cooperative Object Manipulation through a Heterogeneous Mobile Multi-Robot System.- Modeling and Control of a Redundant Tensegrity-based Manipulator.

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Book SynopsisThis book consolidates the current state of knowledge on implementing cooperating robot-based systems to increase the flexibility of manufacturing systems. It is based on the concrete experiences of experts, practitioners, and engineers in implementing cooperating robot systems for more flexible manufacturing systems. Thanks to the great variety of manufacturing systems that we had the opportunity to study, a remarkable collection of methods and tools has emerged. The aim of the book is to share this experience with academia and industry practitioners seeking to improve manufacturing practice. While there are various books on teaching principles for robotics, this book offers a unique opportunity to dive into the practical aspects of implementing complex real-world robotic applications. As it is used in this book, the term “cooperating robots” refers to robots that either cooperate with one another or with people. The book investigates various aspects of cooperation in the context of implementing flexible manufacturing systems. Accordingly, manufacturing systems are the main focus in the discussion on implementing such robotic systems. The book begins with a brief introduction to the concept of manufacturing systems, followed by a discussion of flexibility. Aspects of designing such systems, e.g. material flow, logistics, processing times, shop floor footprint, and design of flexible handling systems, are subsequently covered. In closing, the book addresses key issues in operating such systems, which concern e.g. decision-making, autonomy, cooperation, communication, task scheduling, motion generation, and distribution of control between different devices. Reviewing the state of the art and presenting the latest innovations, the book offers a valuable asset for a broad readership. Table of ContentsPart 1: Introduction.- Chapter 1. Technology perspective.- Part 2: Cooperating robots.- Chapter 2. Flexible cooperating robots for reconfigurable shop floor.- Chapter 3. Cooperating dexterous robotic devices.- Chapter 4. Cooperative manipulation: The case of dual arm robots.- Chapter 5. Virtual validation of dynamically controlled cooperative robots systems.- PART 3: HUMAN ROBOT COLLABORATION.- Chapter 6. Workplace generation for human-robot collaboration.- Chapter 7. Dynamic safety zones in human robot collaboration.- Chapter 8. Multi-purpose robot cell in cooperation with humans.- Chapter 9. Outlook.- Chapter 10. Emerging technology.- Chapter 11. Future challenges.

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Book SynopsisThis open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility. Table of ContentsHaptic Science.- The EmojiGrid as a Rating Tool for the Affective Appraisal of Touch.- A 2-DoF Skin Stretch Display on Palm: Effect of Stimulation Shape, Speed and Intensity.- User-Defined Mid-Air Haptic Sensations for Interacting with an AR Menu Environment.- Surface Roughness Judgment during Finger Exploration is Changeable by Visual Oscillations.- Identifying tactors locations on the proximal phalanx of the finger for navigation.- Tactile Perception of Objects by the User's Palm for the Development of Multi-contact Wearable Tactile Displays.- From Hate to Love: How Learning Can Change Affective Responses to Touched Materials.- Switching between objects improves precision in haptic perception of softness.- Discriminating between Intensities and Velocities of Mid-Air Haptic Patterns.- Density estimation is influenced more by mass when objects are denser.- Haptic feedback in a teleoperated Box & Blocks task.- Systematic Adaptation of Exploration Force to Exploration Duration in Softness Discrimination.- Perception of vibratory direction on the back.- Comparing Lateral Modulation and Amplitude Modulation in Phantom Sensation.- Context Matters: The Effect of Textual Tone on the Evaluation of Mediated Social Touch.- Influence of roughness on contact force estimation during active touch.- Green Fingers: Plant Thigmo Responses as an Unexplored Area for Haptics Research.- The impact of control-display gain in kinesthetic search.- The arm’s blind line: anisotropic distortion in perceived orientation of stimuli on the arm.- Evaluation of Changes in Perceived Intensity and Threshold of Moisture Sensation of Clothes Associated with Skin Moisture.- The Effects of Simultaneous Multi-Point Vibratory Stimulation on Kinesthetic Illusion.- Isometric force matching asymmetries depend on the position of the left hand regardless of handedness.- Computational Model of a Pacinian Corpuscle for an Electrical Stimulus: Spike-Rate and Threshold Characteristics.- Haptic Technology.- SwitchPaD: Active Lateral Force Feedback over a Large Area Based on Switching Resonant Modes.- Visuo-Haptic Display by Embedding Imperceptible Spatial Haptic Information into Projected Images.- Manipulating the Perceived Directions of Wind by Visuo-audio-haptic Cross-modal Effects.- A 6-DoF Zero-order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects.- Evaluating Ultrasonic Tactile Feedback Stimuli.- WeATaViX: WEarable Actuated TAngibles for VIrtual reality eXperiences.- Noncontact Thermal and Vibrotactile Display Using Focused Airborne Ultrasound.- KATIB: Haptic-visual Guidance for Handwriting.- ThermalTex: A two-modal tactile display for delivering surface texture and thermal information.- Can Stiffness Sensations be Rendered in Virtual Reality Using Mid-air Ultrasound Haptic Technologies?.- Midair Haptic Presentation Using Concave Reflector.- Movement-Free Virtual Reality Interface using Kinesthetic Illusion Induced by Tendon Vibration.- Haptic Display Using Fishing Rod.- Confinement of Vibrotactile Stimuli in Periodically Supported Plates.- 2MoTac: Simulation of button click by superposition of two ultrasonic plate waves.- A Proposal and Investigation of Displaying Method by Passive Touch with Electrostatic Tactile Display.- Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip.- Soft-wearable device for the estimation of shoulder orientation and gesture.- Wearable Vibrotactile Interface Using Phantom Tactile Sensation for Human-Robot Interaction.- A Parallel Elastic Haptic Thimble for Wide Bandwidth Cutaneous Feedback.- Instrumenting Hand-held Surgical Drills With a Pneumatic Sensing Cover for Haptic Feedback.- Rendering Ultrasound Pressure Distribution on Hand Surface in Real-Time.- Energy Analysis of Lateral vs. Normal Vibration Modes for Ultrasonic Surface Haptic Devices.- Midair Tactile Reproduction of Real Objects.- LinkRing: A Wearable Haptic Display for Delivering Multi-contact and Multi-modal Stimuli at the Finger Pads.- ElectroAR: Distributed Electro-tactile Stimulation for Tactile Transfer.- Haptic Applications.- Identification Rate of Simple and Complex Tactile Alerts in MUM-T Setup.- Attention-based Robot Learning of Haptic Interaction.- Motion Guidance using Translational Force and Torque Feedback by Induced Pulling Illusion.- Perceptually Compressive Communication of Interactive Telehaptic Signal.- Sound Image Icon with Aerial Haptic Feedback.- Stiffness Discrimination by Two Fingers with Stochastic Resonance.- Interest Arousal by Haptic Feedback During a Storytelling for Kindergarten Children.- Investigating the influence of haptic feedback in rover navigation with communication delay.- Shared haptic perception for human-robot collaboration.- Two-Point Haptic Pattern Recognition with the Inverse Filter Method.- Adaptive Fuzzy Sliding Mode Controller Design for a New Hand Rehabilitation Robot.

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Book Synopsis Cyber-Physical Systems (CPS) integrate computing and communication capabilities by monitoring and controlling the physical systems via embedded hardware and computers. This book brings together new and futuristic findings on IoT, Cyber Physical Systems and Robotics leading towards Automation and solving issues of various critical applications in Real-time. The book initially overviews the concepts of IoT, IIoT and Cyber Physical Systems followed by various critical applications and discusses the latest designs and developments that provide common solutions for the convergence of technologies. In addition, the book specifies methodologies, algorithms and other relevant architectures in various fields that include Automation, Robotics, Smart Agriculture and Industry 4.0.The book is intended for practitioners, enterprise representatives, scientists, students and Ph.D Scholars in hopes of steering research further towards cyber physical systems design and development and implementation across various domains. Additionally, this book can be used as a secondary reference, or rather one-stop guide, by professionals for real-life implementation of cyber physical systems.The book highlights:• A Critical Coverage of various domains: IoT, Cyber Physical Systems, Industry 4.0, Smart Automation and related critical applications.• Advanced elaborations for target audiences to understand the conceptual methodology and future directions of cyber physical systems and IoT.• An approach towards Research Orientations to enable researchers to point out areas and scope for implementation of Cyber Physical Systems in several domains for better productivity. Table of Contents

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Book SynopsisThis Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics.The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). Table of ContentsAssembly Planning: Generic Modeling Technique for flexible and highly available Assembly Systems.- Transmitter Positioning of Distributed Large-scale Metrology within Lineless Mobile Assembly Systems.- Optimized High Precision Stacking of Fuel Cell Components for Medium to Large Production Volumes.- Mobile, Modular and Adaptive Assembly Jigs for Large-scale Products.- Design of an Automated Assembly Station for Process Development of All-Solid-State Battery Cell Assembly.-Grasping: Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks.- Secure Clamping of Parts for Disassembly for Remanufacturing.- Aerial grasping and transport using an unmanned aircraft (UA) equipped with an industrial suction gripper.- Computing Gripping Points in 2D Parallel Surfaces via Polygon Clipping.- Concept for robot-based cable assembly regarding industrial production.- Human-Machine Interaction: Improving the understanding of a remote environment by immersive Man-Machine interaction.- Towards a Modular Elbow Exoskeleton: Concepts for Design and SystemControl.- Adaptive Motion Control Middleware for Teleoperation based on Pose Tracking and Trajectory Planning.- Approach of a Decision Support Matrix for the Implementation of Exoskeletons in Industrial Workplaces.- An approach to integrate a blockchain-based payment model and independent secure documentation for a Robot as a Service.- Human-Robot Collaboration: Human Body Simulation within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration.- Towards Semi Automated Pre-assembly for Aircraft Interior Production.- An approach for direct offline programming of high precision assembly tasks on 3D scans using tactile control and automatic program adaption.- Industry 4.0: Implementation of innovative manufacturing technologies in foundries for large-volume components.- The Digital Twin as a mediator for the digitalization and conservation of expert knowledge.- Web Service for Point Cloud supported Robot Programming using Machine Learning.- Using of Augmented Reality for improved Human-Machine interaction and Real-Time Error Correction of Laboratory Units.- Scalability of assembly line automation based on the integrated product development approach.- Machine Vision: Robot-based Creation of Complete 3D Workpiece Models.- Classification of assembly operations using recurrent neural networks.- Configuration and enablement of vision sensor solutions through a combined simulation based process chain.- Towards Synthetic AI Training Data for Image Classification in Intralogistic Settings.- Evaluation of ML-based Grasping Approaches inthe Field of Automated Assembly.- Robot Programming: Playback Robot Programming Framework for Fiber Spray Processes.- LiDAR-Based Localization for Formation Control of Multi-Robot Systems.- Playback Robot Programming With Loop Increments.- Web-based platform for the configuration of robot applications: A retrospective view on the research project ROBOTOP.- Partial Automated Multi-Pass-Welding for Thick Sheet Metal Connections.

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Book SynopsisThis textbook offers a tutorial introduction to robotics and Computer Vision which is light and easy to absorb. The practice of robotic vision involves the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and computer vision a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly: How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals light and color, camera modelling, image processing, feature extraction and multi-view geometry, and bring it all together in a visual servo system. “An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished Oussama Khatib, StanfordTable of ContentsIntroduction.- Part I: Foundations- Representing Position and Orientation.- Part II: Computer Vision.- Light and Color.- Images and Image Processing.- Image Feature Extraction.- Part III: The Geometry of Vision.- Image Formation.- Using Multiple Images.- Index.

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Book SynopsisThis textbook offers a tutorial introduction to robotics and control which is light and easy to absorb. The practice of robotics and control both involve the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and control a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly: How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provides a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and control separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and control. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, and covers both mobile robots (control, path planning, navigation, localization and SLAM) and arm robots (forward and inverse kinematics, Jacobians, dynamics and joint level control). “An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!” Oussama Khatib, StanfordTrade Review“Written in a light but quite informative style, the book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of modeling and control of spatial mechanisms, manipulators and robots.” (Clementina Mladenova, zbMATH 1492.93004, 2022)Table of ContentsIntroduction.- Representing Position and Orientation.- Time and Motion.- Mobile Robots.- Navigation.- Localization.- Robot Arm Kinematics,- Manipulator Velocity.- Dynamics and Control.- Appendices.

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Book SynopsisThis book focuses on the importance of human factors in the development of safe and reliable robotic and unmanned systems. It discusses solutions for improving the perceptual and cognitive abilities of robots, developing suitable synthetic vision systems, coping with degraded reliability in unmanned systems, and predicting robotic behavior in relation to human activities. It covers the design of improved, easy to use, human–system interfaces, together with strategies for increasing human–system performance, and reducing cognitive workload at the user interface. It also discusses real-world applications and case studies of human-robot and human-agent collaboration in different business and educational endeavors. The second part of the book reports on research and developments in the field of human factors in cybersecurity.Contributions cover the technological, social, economic and behavioral aspects of the cyberspace, providing a comprehensive perspective to manage cybersecurity risks. Based on the two AHFE 2021 Conferences such as the AHFE 2021 Conference on Human Factors in Robots, Drones and Unmanned Systems, and the AHFE 2021 Conference on Human Factors in Cybersecurity, held virtually on 25–29 July, 2021, from USA, this book offers extensive information and highlights the importance of multidisciplinary approaches merging engineering, computer science, business and psychological knowledge. It is expected to foster discussion and collaborations between researchers and practitioners with different background, thus stimulating new solutions for the development of reliable and safe, human-centered, highly functional devices to perform automated and concurrent tasks, and to achieve an inclusive, holistic approach for enhancing cybersecurity.Table of ContentsConcept for cross-platform delegation of heterogeneous UAVs in a MUM-T environment.- Swarms, teams, or choirs? Metaphors in multi-UAV systems design.- Visual communication with UAS: Estimating parameters for gestural transmission of task descriptions.- A distributed mission-planning framework for shared UAV use in multi-operator MUM-T applications.- Conditional behavior: Human delegation mode for unmanned vehicles under selective Datalink availability.- Lethal Autonomous Weapon Systems (LAWS): An advocacy paper.- Measuring the impact of a navigation aid in unmanned ship handling via a shore control center.- A computational assessment of ergonomics in an industrial human-robot collaboration workplace using system dynamics.

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Book SynopsisProblems of joint application of heterogeneous ground and air robotic means while performing the agricultural technological tasks that require physical interaction with agricultural products and the environment are discussed in the book. Proposed solutions for the exchange of energy and physical resources of unmanned aerial vehicles on ground service platforms, automation of the process of collecting agricultural products and ensuring the stability of the air manipulation system at physical interaction with a ground object are important for the transport and agricultural industry robotization.The book addresses the researchers investigating interdisciplinary issues of agricultural production robotization, problems of information, physical and energy interaction of ground and air robots; recommended to postgraduates and students studying "Mechatronics and robotics" and "Technologies, mechanization and power equipment in agriculture, forestry and fisheries."Table of ContentsChapter 1: Analysis of Existing Approaches to the Service Automation and to Interaction Control of Heterogeneous Agricultural Robots.- Chapter 2: Models and Algorithms of Interaction between Heterogeneous Agricultural Robots.- Chapter 3: Recommendation System to Select the Composition of the Heterogeneous Agricultural Robots.- Chapter 4: Experimental Estimation of Means Developed for Interaction between Heterogeneous Agricultural Robots.- Chapter 5: Theoretical Foundations to Control Technological and Robotic Operations with Physical Manipulations of Agricultural Products.

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Book SynopsisThis book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.Table of ContentsIntroduction.- Part I: Taming the Complexity of Human Motion Generation.- Understanding the Principal Modes of Natural Movements in Temporal Domain.- Quantifying the Time-Invariance Properties of Upper Limb Synergies.- Evidences on the Hierarchical Control of Human Hands.- Part II: On the Design of Nature-Inspired Prostheses and the Assessment of Motion Impairment.- Using Nature-Inspired Principles to Design of Robotic Limbs: the Soft Wrist.- A Novel Approach to Quantify Motion Impairment.- A novel mechatronic system for evaluating elbow muscular spasticity relying on Tonic Stretch Reflex Threshold estimation.- Part III: Transferring Human Principles to Cobots and Autonomous Robots.- Natural Motion: Embedding Human-Likeliness in Robot Movements.- A Focus on Motion Dynamics: Planning Impedance Behaviors in Physical Interaction.- Learning from Humans How to Grasp: a Reactive-Based Approach.- Learning from Humans How to Grasp: Enhancing the Reaching Strategy.- Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery.- Dexterity Augmentation of Robotic Hands: a Study on the Kinetic Domain.- Exploiting Principal Components for Robots Walking: an Approach for Sub-Optimal Locomotion.- Conclusions and Lessons Learned.

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Book SynopsisThis book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots. The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.Table of ContentsA Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators.- Stiffness modeling for gravity compensators.- Multi-DOF Counterbalancing and Applications to Robots.- Parallel Elastic Actuator: Variable recruitment of parallel springs for partial gravity compensation.- Optimization and Control of a Cable-driven Robotic Suit for Load Carriage.- Tool Compensation for a Medical Cobot-Assistant.- Design of Statically Balanced Assistive Devices.- Design of Multifunctional Assistive Devices with Various Arrangements of Gravity Compenstion.- Gravity Balancing of Parallel Robots by Constant-Force Generators.

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Book SynopsisDistributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.Trade Review“The book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of motion control of robots and robot teams.” (Clementina Mladenova, zbMATH 1503.93007, 2023)Table of Contents1. Introduction.- 2. Modelling.- 3. Coordination Problems.- 4. Preliminaries.- 5. Rendezvous of Flying Robots with Local and Distributed Feedbacks.- 6. Rendezvous of Kinematic Unicycles with Local and Distributed Feedbacks.- 7. Formations of Kinematic Unicycles.- 8. Formations of Kinematic Unicycles with Parallel and Circular Collective Motions.- 9. General Formation Path Following.- 10. Unicycle Formation Simulation Trials.- 11. Conclusions and Future Research.

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