The robotics primer

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Bibliographic Details
Main Author Mataric, Maja J.
Format eBook
LanguageEnglish
Published Cambridge, Mass. : MIT Press, c2007.
SeriesIntelligent robotics and autonomous agents.
Subjects
Robotics.
elektronické knihy
electronic books
Online AccessFull text
ISBN9780262256636
Physical Description1 online zdroj (xvii, 306 p.) : ill.

Cover

Table of Contents:
  • Preface
  • What is a robot?
  • Where do robots come from?. Control theory ; Cybernetics ; Artificial intelligence
  • What's in a robot?. Embodiment ; Sensing ; Action ; Brains and brawn ; Autonomy
  • Arms, legs, wheels, tracks, and what really drives them. Active vs. passive actuation ; Types of actuators ; Motors ; Degrees of freedom
  • Move it!. Stability ; Moving and gaits ; Wheels and steering ; Staying on the path vs. getting there
  • Grasping at straws. Endeffectors ; Teleoperation ; Why is manipulation hard?
  • What's going on?. Levels of processing
  • Switch on the light. Passive vs. active sensors ; Switches ; Light sensors ; Resistive position sensors
  • Sonars, lasers, and cameras. Ultrasonic or sonar sensing ; Laser sensing ; Visual sensing
  • Stay in control. Feedback or closed loop control ; The many faces of error ; An example of a feedback control robot ; Types of feedback control ; Feedforward or open loop control
  • The building blocks of control. Who needs control architectures? ; Languages for programming robots ; And the architectures are-
  • What's on your head?. The many ways to make a map ; What can the robot represent? ; Costs of representing
  • Think hard, act later. What is planning? ; Costs of planning
  • Don't think, react!. Action selection ; Subsumption architecture ; Herbert, or how to sequence behaviors through the world
  • Think and act separately, in parallel. Dealing with changes in the world/map/task ; Planning and replanning ; Avoiding replanning ; On-line and off-line planning
  • Think the way you act. Distributed representation ; An example : distributed mapping
  • Making your robot behave. Behavior arbitration : make a choice ; Behavior fusion : sum it up
  • When the unexpected happens. An example : emergent wall-following ; The whole is greater than the sum of its parts ; Components of emergence ; Expect the unexpected ; Predictability of surprise ; Good vs. bad emergent behavior ; Architectures and emergence
  • Going places. Localization ; Search and path planning ; SLAM ; Coverage
  • Go, team!. Benefits of teamwork ; Challenges of teamwork ; Types of groups and teams ; Communication ; Getting a team to play together ; Architectures for multi-robot control
  • Things keep getting better. Reinforcement learning ; Supervised learning ; Learning by imitation/from demonstration ; Learning and forgetting
  • Where to next?. Space robotics ; Surgical robotics ; Self-reconfigurable robotics ; Humanoid robotics ; Social robotics and human-robot interaction ; Service, assistive and rehabilitation robotics ; Educational robotics ; Ethical implications.

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