{"product_id":"sensing-intelligence-motion-9780471707400","title":"Sensing Intelligence Motion","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003eA leap forward in the field of robotics\u003cbr\u003e \u003cbr\u003e Until now, most of the advances in robotics have taken place in structured environments. Scientists and engineers have designed highly sophisticated robots, but most are still only able to operate and move in predetermined, planned environments designed specifically for the robots and typically at very high cost. This new book takes robotics to the next level by setting forth the theory and techniques needed to achieve robotic motion in unstructured environments. The ability to move and operate in an arbitrary, unplanned environment will lead to automating a wide range of new robotic tasks, such as patient care, toxic site cleanup, and planetary exploration.\u003cbr\u003e \u003cbr\u003e The approach that opens the door for robots to handle unstructured tasks is known as Sensing-Intelligence-Motion (SIM), which draws from research in topology, computational complexity, control theory, and sensing hardware. Using SIM as an underlying foundation, the a\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTrade Review\u003c\/b\u003e\u003cbr\u003e\"This book represents a very stimulating and personal contribution to the field of algorithmic robotics.\" (\u003ci\u003ePragmatics \u0026amp; Cognition\u003c\/i\u003e)  \u003cp\u003e\"…a good text for senior undergraduates and graduate students with an interest in robot motion.\" (\u003ci\u003eComputing Reviews.com\u003c\/i\u003e, May 25, 2006)\u003c\/p\u003e\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003cb\u003ePreface.\u003c\/b\u003e  \u003cp\u003e\u003cb\u003eAcknowledgments.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Motion Planning—Introduction.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Introduction.\u003c\/p\u003e \u003cp\u003e1.2 Basic Concepts.\u003c\/p\u003e \u003cp\u003e1.2.1 Robot? What Robot?\u003c\/p\u003e \u003cp\u003e1.2.2 Space. Objects.\u003c\/p\u003e \u003cp\u003e1.2.3 Input Information. Sensing.\u003c\/p\u003e \u003cp\u003e1.2.4 Degrees of Freedom. Coordinate Systems.\u003c\/p\u003e \u003cp\u003e1.2.5 Motion Control.\u003c\/p\u003e \u003cp\u003e1.2.6 Robot Programming.\u003c\/p\u003e \u003cp\u003e1.2.7 Motion Planning.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 A Quick Sketch of Major Issues in Robotics.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Kinematics.\u003c\/p\u003e \u003cp\u003e2.2 Statics.\u003c\/p\u003e \u003cp\u003e2.3 Dynamics.\u003c\/p\u003e \u003cp\u003e2.4 Feedback Control.\u003c\/p\u003e \u003cp\u003e2.5 Compliant Motion.\u003c\/p\u003e \u003cp\u003e2.6 Trajectory Modification.\u003c\/p\u003e \u003cp\u003e2.7 Collision Avoidance.\u003c\/p\u003e \u003cp\u003e2.8 Motion Planning with Complete Information.\u003c\/p\u003e \u003cp\u003e2.9 Motion Planning with Incomplete Information.\u003c\/p\u003e \u003cp\u003e2.9.1 The Beginnings.\u003c\/p\u003e \u003cp\u003e2.9.2 Maze-to-Graph Transition.\u003c\/p\u003e \u003cp\u003e2.9.3 Sensor-Based Motion Planning.\u003c\/p\u003e \u003cp\u003e2.10 Exercises.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Motion Planning for a Mobile Robot.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 The Model.\u003c\/p\u003e \u003cp\u003e3.2 Universal Lower Bound for the Path Planning Problem.\u003c\/p\u003e \u003cp\u003e3.3 Basic Algorithms.\u003c\/p\u003e \u003cp\u003e3.3.1 First Basic Algorithm: Bug1.\u003c\/p\u003e \u003cp\u003e3.3.2 Second Basic Algorithm: Bug2.\u003c\/p\u003e \u003cp\u003e3.4 Combining Good Features of Basic Algorithms.\u003c\/p\u003e \u003cp\u003e3.5 Going After Tighter Bounds.\u003c\/p\u003e \u003cp\u003e3.6 Vision and Motion Planning.\u003c\/p\u003e \u003cp\u003e3.6.1 The Model.\u003c\/p\u003e \u003cp\u003e3.6.2 Algorithm VisBug-21.\u003c\/p\u003e \u003cp\u003e3.6.3 Algorithm VisBug-22.\u003c\/p\u003e \u003cp\u003e3.7 From a Point Robot to a Physical Robot.\u003c\/p\u003e \u003cp\u003e3.8 Other Approaches.\u003c\/p\u003e \u003cp\u003e3.9 Which Algorithm to Choose?\u003c\/p\u003e \u003cp\u003e3.10 Discussion.\u003c\/p\u003e \u003cp\u003e3.11 Exercises.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Accounting for Body Dynamics: The Jogger’s Problem.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Problem Statement.\u003c\/p\u003e \u003cp\u003e4.2 Maximum Turn Strategy.\u003c\/p\u003e \u003cp\u003e4.2.1 The Model.\u003c\/p\u003e \u003cp\u003e4.2.2 Sketching the Approach.\u003c\/p\u003e \u003cp\u003e4.2.3 Velocity Constraints. Minimum Time Braking.\u003c\/p\u003e \u003cp\u003e4.2.4 Optimal Straight-Line Motion.\u003c\/p\u003e \u003cp\u003e4.2.5 Dynamics and Collision Avoidance.\u003c\/p\u003e \u003cp\u003e4.2.6 The Algorithm.\u003c\/p\u003e \u003cp\u003e4.2.7 Examples.\u003c\/p\u003e \u003cp\u003e4.3 Minimum Time Strategy.\u003c\/p\u003e \u003cp\u003e4.3.1 The Model.\u003c\/p\u003e \u003cp\u003e4.3.2 Sketching the Approach.\u003c\/p\u003e \u003cp\u003e4.3.3 Dynamics and Collision Avoidance.\u003c\/p\u003e \u003cp\u003e4.3.4 Canonical Solution.\u003c\/p\u003e \u003cp\u003e4.3.5 Near-Canonical Solution.\u003c\/p\u003e \u003cp\u003e4.3.6 The Algorithm.\u003c\/p\u003e \u003cp\u003e4.3.7 Convergence. Computational Complexity.\u003c\/p\u003e \u003cp\u003e4.3.8 Examples.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Motion Planning for Two-Dimensional Arm Manipulators.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction.\u003c\/p\u003e \u003cp\u003e5.1.1 Model and Definitions.\u003c\/p\u003e \u003cp\u003e5.2 Planar Revolute–Revolute (RR) Arm.\u003c\/p\u003e \u003cp\u003e5.2.1 Analysis.\u003c\/p\u003e \u003cp\u003e5.2.2 Algorithm.\u003c\/p\u003e \u003cp\u003e5.2.3 Step Planning.\u003c\/p\u003e \u003cp\u003e5.2.4 Example.\u003c\/p\u003e \u003cp\u003e5.2.5 Motion Planning with Vision and Proximity Sensing.\u003c\/p\u003e \u003cp\u003e5.2.6 Concluding Remarks.\u003c\/p\u003e \u003cp\u003e5.3 Distinct Kinematic Configurations of RR Arm.\u003c\/p\u003e \u003cp\u003e5.4 Prismatic–Prismatic (PP, or Cartesian) Arm.\u003c\/p\u003e \u003cp\u003e5.5 Revolute–Prismatic (RP) Arm with Parallel Links.\u003c\/p\u003e \u003cp\u003e5.6 Revolute–Prismatic (RP) Arm with Perpendicular Links.\u003c\/p\u003e \u003cp\u003e5.7 Prismatic–Revolute (PR) Arm.\u003c\/p\u003e \u003cp\u003e5.8 Topology of Arm’s Free Configuration Space.\u003c\/p\u003e \u003cp\u003e5.8.1 Workspace; Configuration Space.\u003c\/p\u003e \u003cp\u003e5.8.2 Interaction Between the Robot and Obstacles.\u003c\/p\u003e \u003cp\u003e5.8.3 Uniform Local Connectedness.\u003c\/p\u003e \u003cp\u003e5.8.4 The General Case of 2-DOF Arm Manipulators.\u003c\/p\u003e \u003cp\u003e5.9 Appendix.\u003c\/p\u003e \u003cp\u003e5.10 Exercises.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Motion Planning for Three-Dimensional Arm Manipulators.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction.\u003c\/p\u003e \u003cp\u003e6.2 The Case of the PPP (Cartesian) Arm.\u003c\/p\u003e \u003cp\u003e6.2.1 Model, Definitions, and Terminology.\u003c\/p\u003e \u003cp\u003e6.2.2 The Approach.\u003c\/p\u003e \u003cp\u003e6.2.3 Topology of \u003ci\u003eW\u003c\/i\u003e-Obstacles and \u003ci\u003eC\u003c\/i\u003e-Obstacles.\u003c\/p\u003e \u003cp\u003e6.2.4 Connectivity of \u003ci\u003eC.\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e6.2.5 Algorithm.\u003c\/p\u003e \u003cp\u003e6.2.6 Examples.\u003c\/p\u003e \u003cp\u003e6.3 Three-Link \u003ci\u003eXXP\u003c\/i\u003e Arm Manipulators.\u003c\/p\u003e \u003cp\u003e6.3.1 Robot Arm Representation Spaces.\u003c\/p\u003e \u003cp\u003e6.3.2 Monotonicity of Joint Space.\u003c\/p\u003e \u003cp\u003e6.3.3 Connectivity of \u003ci\u003eJf.\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e6.3.4 Retraction of \u003ci\u003eJf.\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e6.3.5 Configuration Space and Its Retract.\u003c\/p\u003e \u003cp\u003e6.3.6 Connectivity Graph.\u003c\/p\u003e \u003cp\u003e6.3.7 Lifting 2D Algorithms into 3D.\u003c\/p\u003e \u003cp\u003e6.3.8 Step Planning.\u003c\/p\u003e \u003cp\u003e6.3.9 Discussion.\u003c\/p\u003e \u003cp\u003e6.4 Other \u003ci\u003eXXX\u003c\/i\u003e Arms.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Human Performance in Motion Planning.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction.\u003c\/p\u003e \u003cp\u003e7.2 Preliminary Observations.\u003c\/p\u003e \u003cp\u003e7.2.1 Moving in a Maze.\u003c\/p\u003e \u003cp\u003e7.2.2 Moving an Arm Manipulator.\u003c\/p\u003e \u003cp\u003e7.2.3 Conclusions and Plan for Experiment Design.\u003c\/p\u003e \u003cp\u003e7.3 Experiment Design.\u003c\/p\u003e \u003cp\u003e7.3.1 The Setup.\u003c\/p\u003e \u003cp\u003e7.3.2 Test Protocol.\u003c\/p\u003e \u003cp\u003e7.4 Results—Experiment One.\u003c\/p\u003e \u003cp\u003e7.4.1 Principal Components Analysis.\u003c\/p\u003e \u003cp\u003e7.4.2 Nonparametric Statistics.\u003c\/p\u003e \u003cp\u003e7.4.3 Univariate Analysis of Variance.\u003c\/p\u003e \u003cp\u003e7.4.4 Two-Way Analysis of Variance.\u003c\/p\u003e \u003cp\u003e7.4.5 Implementation: Two-Way Analysis for Path Length.\u003c\/p\u003e \u003cp\u003e7.4.6 Implementation: Two-Way Analysis for Completion Time.\u003c\/p\u003e \u003cp\u003e7.5 Results—Experiment Two.\u003c\/p\u003e \u003cp\u003e7.5.1 The Technique.\u003c\/p\u003e \u003cp\u003e7.5.2 Implementation Scheme.\u003c\/p\u003e \u003cp\u003e7.5.3 Results and Interpretation.\u003c\/p\u003e \u003cp\u003e7.6 Discussion.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Sensitive Skin—Designing an All-Sensitive Robot Arm Manipulator.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction.\u003c\/p\u003e \u003cp\u003e8.2 Salient Characteristics of a Sensitive Skin.\u003c\/p\u003e \u003cp\u003e8.3 Skin Design.\u003c\/p\u003e \u003cp\u003e8.4 Examples.\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Suggested Course Projects.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003eReferences.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003eIndex.\u003c\/b\u003e\u003c\/p\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default Title","offer_id":49402657079639,"sku":"9780471707400","price":145.76,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0817\/1739\/5799\/files\/9780471707400.jpg?v=1730481141","url":"https:\/\/bookcurl.com\/products\/sensing-intelligence-motion-9780471707400","provider":"Book Curl","version":"1.0","type":"link"}