Robotics Primer

ISBN-10: 026263354X
ISBN-13: 9780262633543
Edition: 2007
Authors: Maja J. Mataric
List price: $42.00 Buy it from $10.56
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Description: The Robotics Primeroffers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts  More...

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Book details

List price: $42.00
Copyright year: 2007
Publisher: MIT Press
Publication date: 8/17/2007
Binding: Paperback
Pages: 328
Size: 6.50" wide x 9.25" long x 0.50" tall
Weight: 1.386

The Robotics Primeroffers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primercovers such topics as the definition of robotics, the history of robotics ("Where do Robots Come From?"), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior ("Making Your Robot Behave"), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primeris accompanied by a free robot programming exercise workbook. The Robotics Primeris unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primeris a springboard for readers of all backgrounds--including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.

Maja J. Mataric is Professor of Computer Science and Neuroscience and Director of the Center for Robotics and Embedded Systems at the University of Southern California, where she is also Codirector of the Robotics Research Lab and Senior Associate Dean for research in the Viterbi School of Engineering.

Preface
What Is a Robot?
Defining Robotics
Where Do Robots Come From?
A Brief but Gripping History of Robotics
Control Theory
Cybernetics
Grey Walter's Tortoise
Braitenberg's Vehicles
Artificial Intelligence
What's in a Robot?
Robot Components
Embodiment
Sensing
Action
Brains and Brawn
Autonomy
Arms, Legs, Wheels, Tracks, and What Really Drives Them
Effectors and Actuators
Active vs. Passive Actuation
Types of Actuators
Motors
Direct Current (DC) Motors
Gearing
Servo Motors
Degrees of Freedom
Move It!
Locomotion
Stability
Moving and Gaits
Wheels and Steering
Staying on the Path vs. Getting There
Grasping at Straws
Manipulation
Endeffectors
Teleoperation
Why Is Manipulation Hard?
What's Going On?
Sensors
Levels of Processing
Switch on the Light
Simple Sensors
Passive vs. Active Sensors
Switches
Light Sensors
Polarized Light
Reflective Optosensors
Reflectance Sensors
Infra Red Light
Modulation and Demodulation of Light
Break Beam Sensors
Shaft Encoders
Resistive Position Sensors
Potentiometers
Sonars, Lasers, and Cameras
Complex Sensors
Ultrasonic or Sonar Sensing
Sonar Before and Beyond Robotics
Specular Reflection
Laser Sensing
Visual Sensing
Cameras
Edge Detection
Model-Based Vision
Motion Vision
Stereo Vision
Texture, Shading, Contours
Biological Vision
Vision for Robots
Stay in Control
Feedback Control
Feedback or Closed Loop Control
The Many Faces of Error
An Example of a Feedback Control Robot
Types of Feedback Control
Proportional Control
Derivative Control
Integral Control
PD and PID Control
Feedforward or Open Loop Control
The Building Blocks of Control
Control Architectures
Who Needs Control Architectures?
Languages for Programming Robots
And the Architectures are...
Time
Modularity
Representation
What's in Your Head?
Representation
The Many Ways to Make a Map
What Can the Robot Represent?
Costs of Representing
Think Hard, Act Later
Deliberative Control
What Is Planning?
Costs of Planning
Don't Think, React!
Reactive Control
Action Selection
Subsumption Architecture
Herbert, or How to Sequence Behaviors Through the World
Think and Act Separately, in Parallel
Hybrid Control
Dealing with Changes in the World/Map/Task
Planning and Replanning
On-Line and Off-Line Planning
Think the Way You Act
Behavior-Based Control
Distributed Representation
An Example: Distributed Mapping
Toto the Robot
Toto's Navigation
Toto's Landmark Detection
Toto's Mapping Behaviors
Path Planning in Toto's Behavior Map
Toto's Map-Following
Making Your Robot Behave
Behavior Coordination
Behavior Arbitration: Make a Choice
Behavior Fusion: Sum It Up
When the Unexpected Happens
Emergent Behavior
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
Navigation
Localization
Search and Path Planning
SLAM
Coverage
Go, Team!
Group Robotics
Benefits of Teamwork p.20.1
Challenges of Teamwork
Types of Groups and Teams
Communication
Kin Recognition
Getting a Team to Play Together
I'm the Boss: Centralized Control
Work It Out as a Team: Distributed Control
Architectures for Multi-Robot Control
Pecking Orders: Hierarchies
Things Keep Getting Better
Learning
Reinforcement Learning
Supervised Learning
Learning from Imitation/From Demonstration
Learning and Forgetting
Where To Next?
The Future of Robotics
Space Robotics
Surgical Robotics
Self-Reconfigurable Robotics
Humanoid Robotics
Social Robotics and Human-Robot Interaction
Service, Assistive and Rehabilitation Robotics
Educational Robotics
Ethical Implications
Bibliography
Glossary
Index

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