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