Redundancy in Robot Manipulators and Multi-Robot Systems

By Dejan Milutinovi

Book Overview

Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators.- Low-Cost Multi-Robot Localization.- Using torque redundancy to optimize contact forces in legged robots.- Exploiting Heterogeneity in Robotic Networks.- Variational Analysis of Snakelike Robots.- Robustness in the Presence of Task Differentiation in Robot Ensembles.- Cooperating Mobile Cable Robots: .- Deployment algorithms for dynamically constrained mobile robots.- Kalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations.- M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds.- Individual Control of Redundant Skeletal Muscles using an Exoskeleton Robot.- Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements

• Format: Paperback
• Language: English
• ISBN: 3642441394
• ISBN13: 9783642441394
• Release Date: November 2014
• Publisher: Springer
• Length: 244 Pages
• Weight: 0.79 lbs.
• Dimensions: 0.5" x 6.1" x 9.2"