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Designs and Prototypes of Mobile Robots

Book Description

For several decades now, mobile robots have been integral to the development of new robotic systems for new applications, even in nontechnical areas. Mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, demining operations, surveillance, entertainment, museum guides and many other industrial and non-industrial applications. In some cases these products are readily available on the market. A considerable amount of literature is also available; not all of which pertains to technical issues, as listed in the chapters of this book and its companion. Readers will enjoy this book and its companion and will utilize the knowledge gained with satisfaction and will be assisted by its content in their interdisciplinary work for engineering developments of mobile robots, in both old and new applications. This book and its companion can be used as a graduate level course book or a guide book for the practicing engineer who is working on a specific problem which is described in one of the chapters. The companion volume for this book, Mobile Robots for Dynamic Environments, is also available from Momentum Press.

Table of Contents

  1. Cover
  2. Halftitle
  3. Title
  4. Contributing Authors
  5. Contents
  6. Preface
  7. 1. Linkages for leg mechanisms
    1. 1.1 Walking issues for robots
    2. 1.2 A historical survey of mechanisms for walking machines
    3. 1.3 Modern solutions
    4. 1.4 Challenges for future developments
    5. 1.5 Conclusions
    6. 1.6 References
  8. 2. Exoskeletons and bipeds
    1. 2.1 Exoskeletons
      1. 2.1.1 History and overview
      2. 2.1.2 Mechanism design principles
      3. 2.1.3 Sensing and control algorithm
      4. 2.1.4 Actuators and portable power supply
    2. 2.2 Bipeds
      1. 2.2.1 History and overview
      2. 2.2.2 Mechanism design
      3. 2.2.3 Motion planning
      4. 2.2.4 Stability control
      5. 2.2.5 Control system
      6. 2.2.6 Biped walking
    3. 2.3 Conclusions
    4. 2.4 References
  9. 3. Mechanical design challenges in rescue robot prototyping
    1. 3.1 Introduction
    2. 3.2 Design challenges
    3. 3.3 Digital prototyping
    4. 3.4 Physical robot prototyping
    5. 3.5 Design process
    6. 3.6 Fault analyses
      1. 3.6.1 Functional conflicts
      2. 3.6.2 Materials and manufacturing methods
      3. 3.6.3 Testing
    7. 3.7 Conclusions and future directions
    8. 3.8 Acknowledgment
    9. 3.9 References
  10. 4. Networked control for mobile robots
    1. 4.1 Introduction
    2. 4.2 Applications of networked control mobile robots
    3. 4.3 Introduction of NOROS robots
    4. 4.4 Advantages and challenges
    5. 4.5 Control challenges and achievements
      1. 4.5.1 Overview of NCS
      2. 4.5.2 Major accomplishments
    6. 4.6 Communication challenges and achievements
      1. 4.6.1 Key problems
      2. 4.6.2 Major accomplishments
      3. 4.6.3 Dynamic lunar exploration robots routing protocol
      4. 4.6.4 Dynamic lunar exploration robots routing protocol
      5. 4.6.5 The optimal ad hoc routing protocols design for multi moon exploration robots system
      6. 4.6.6 Simulation and results
    7. 4.7 Perception challenges and achievements
      1. 4.7.1 Key problems
      2. 4.7.2 Major accomplishments
      3. 4.7.3 Dynamic CSS localization system for NOROS robots
    8. 4.8 Conclusions and future works
    9. 4.9 References
  11. 5. Human-machine interface of mobile robot for posture
    1. 5.1 A survey of HMI for robots
      1. 5.1.1 Traditional input devices
      2. 5.1.2 Passive multi-axes manipulator
      3. 5.1.3 Touch screen
      4. 5.1.4 Human motion sensing devices
      5. 5.1.5 Bio-signal capture and speech recognition system
      6. 5.1.6 Challenges and open problems of HMI
    2. 5.2 Motion replication system
    3. 5.3 Visual and verbal feedback
      1. 5.3.1 Visual presentation and feedback
      2. 5.3.2 Visual presentation and feedback
    4. 5.4 System implementation
      1. 5.4.1 Hardware and system design
      2. 5.4.2 Kinematic model
      3. 5.4.3 Calibration procedure
      4. 5.4.4 Comparison method
    5. 5.5 Experiment
    6. 5.6 Results and discussion
      1. 5.6.1 Analysis of the questionnaire
      2. 5.6.2 Result of the performance
    7. 5.7 Conclusion
    8. 5.8 References
  12. 6. Robot education with mobile robots
    1. 6.1 Introduction
    2. 6.2 Mobile robot platforms for education
      1. 6.2.1 RoboDesigner®
      2. 6.2.2 MiniWay®
      3. 6.2.3 Learning outcomes
    3. 6.3 Research problems and trends
    4. 6.4 Closure
    5. 6.5 References
  13. Adpage
  14. Backcover