Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms (Hardcover)

Preface xv
1 Introduction 1
I MECHANISMS 9
2 Locomotion, Manipulation, and Their Representations 11
3 Kinematics 27
4 Forces 53
5 Grasping 61
II SENSING AND ACTUATION 71
6 Actuators 73
7 Sensors 81
III COMPUTATION 95
8 Vision 97
9 Feature Extraction 109
10 Artificial Neural Networks 119
11 Task Execution 139
12 Mapping 155
13 Path Planning 165
14 Manipulation 179
IV UNCERTAINTY 189
15 Uncertainty and Error Propagation 191
16 Localization 201
17 Simultaneous Localization and Mapping 219
V APPENDIXES
A Trigonometry 233
B Linear Algebra 235
C Statistics 239
D Backpropagation 247
E How to Write a Research Paper 253
F Sample Curricula 257
References 265
Index 269