Mobile Robotics, Moving Intelligence ISBN 3-86611-284-X hard cover, 586 pages Edited by: Jonas Buchli Publisher: Pro Literatur Verlag, Germany / ARS, Austria Publication date: December 2006 Price: 80 Euro incl. package & postage |Download the full text of this book|

About the Book This book covers many aspects of the exciting research in mobile robotics. It deals with different aspects of the control problem, especially also under uncertainty and faults. Mechanical design issues are discussed along with new sensor and actuator concepts. Games like soccer are a good example which comprise many of the aforementioned challenges in a single comprehensive and in the same time entertaining framework. Thus, the book comprises contributions dealing with aspects of the Robotcup competition. The reader will get a feel how the problems cover virtually all engineering disciplines ranging from theoretical research to very application specific work. In addition interesting problems for physics and mathematics arises out of such research. We hope this book will be an inspiring source of knowledge and ideas, stimulating further research in this exciting field. The promises and possible benefits of such efforts are manifold, they range from new transportation systems, intelligent cars to flexible assistants in factories and construction sites, over service robot which assist and support us in daily live, all the way to the possibility for efficient help for impaired and advances in prosthetics.

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Table of Contents

Control

01Supervisory Control for Turnover Prevention of a Teleoperated Mobile Agent with a Terrain-prediction Sensor Module
Jae Byung Park & Beom Hee Lee

02Dynamics and Control for Nonholonomic Mobile Modular Manipulators
Yangmin Li & Yugang Liu

03Combined Torque and Velocity Control of a Redundant Robot System
Damir Omrčen, Leon Žlajpah, Bojan Nemec

04EMOBOT: A robot control architecture based on emotion-like internal values
Nils Goerke

05Mobile Robotics, Moving Intelligence
Alhaj Ali, S., Ghaffari, M., Liao, X., and Hall, E.

06Decentralized Robust Tracking Control for Uncertain Robots
Zongying Shi, Yisheng Zhong and Wenli Xu

07Gauging Intelligence of Mobile Robots
Ka C Cheok

08A Reusable UART IP Design and Its Application in Mobile Robots
Ching-Chang Wong and Yu-Han Lin

09Behavior-based Pose Control of Mobile Robots Using an Uncalibrated Eye-in-Hand Vision System
T. I. James Tsay and Y. F. Lai

10A Fuzzy Logic Controller for Autonomous Wheeled Vehicles
Mohamed B. Trabia, Linda Z. Shi and Neil E. Hodge

11Real-Time Optimization Approach for Mobile Robot
Hiroki Takeuchi

12Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels
Jae-Bok Song and Kyung-Seok Byun

13Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study
Jorge Gudiño-Lau and Marco A. Arteaga

14Biologically-plausible reactive control of mobile robots
Zapata René and Lépinay Pascal

15Transputer Neuro-Fuzzy Controlled Behaviour-Based Mobile Robotics System
E. Al-Gallaf

16Mechanism and Control of Anthropomorphic Biped Robots
Hun-ok Lim and Atsuo Takanishi

17Bio-mimetic Finger: Human like morphology, control & motion planning for intelligent robot & prosthesis
Emanuele Lindo Secco and Giovanni Magenes

18Vision Based Control of Model Helicopters
Erdine Altug

MultiRobot Systems

19Multi –Agent System Concepts; Theory and application phases
Adel Al-Jumaily and Mohamed Al-Jaafreh

20Grid technologies for intelligent autonomous robot swarms
Fabio P. Bonsignorio

21Acromovi architecture: A framework for the development of multirobot applications
Patricio Nebot and Enric Cervera

22Multi-Robot Systems and Distributed Intelligence: the ETHNOS approach to Heterogeneity
Antonio Sgorbissa

Multi-legged robots

23Force Sensing for Multi-legged Walking Robots: Theory and Experiments – Part 1: Overview and Force Sensing
A. Schneider and U. Schmucker

24Force Sensing for Multi-legged Walking Robots: Theory and Experiments – Part 2: Force Control of Legged Vehicles
A. Schneider and U. Schmucker

25Force Sensors in Hexapod Locomotion
Sathya Kaliyamoorthy, Sasha N. Zill and Roger D. Quinn

26Novel Robotic Applications using Adaptable Compliant Actuation. An Implementation Towards Reduction of Energy Consumption for Legged Robots
Björn Verrelst, Bram Vanderborght, Ronald Van Ham, Pieter Beyl and Dirk Lefeber

27Acquisition of Obstacle Avoidance Actions with Free-Gait for Quadruped Robots
Tomohiro Yamaguchi, Keigo Watanabe and Kiyotaka Izumi

28Fault-Tolerant Gait Planning of Multi-Legged Robots
Jung-Min Yang, Yong-Kuk Park and Jin-Gon Kim