Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World

INDEX

J-space monotonicity, 312

P P P (Cartesian) robot arm, 276

X X P robot arms, 274

X X X robot arms, 274

l_i-front monotonicity, 285

l_i-rear monotonicity, 285

l_i-Link-Arm Algorithm, 210

A

actuators, 18

algorithm convergence, 57

ANOVA, 362

arm base, 18

arm configuration, 18

arm joints range, 200

arm solution, 187

arm's minimal configuration, 180

B

Bug1 algorithm, 84

Bug2 algorithm, 90

Bug2 path, 109

BugM1 algorithm, 101

C

canonical solution, 144, 159

Cartesian (PP) robot arm, 182

Cartesian coordinates, 19

Class 1 algorithms, 77

Class 2 algorithms, 77

collision avoidance, 48

complementary M-lines, 203

compliant motion, 40

computational complexity, 53

configuration space (C-space), 18

configuration space anisotropy, 285

connectedness, uniform, 252

connectivity graph, 305, 323

contiguous sets, 107

conventional projection, 295

D

deformation retract, 305

deformation retract theorems, 317

degrees of freedom (DOF), 18

direct kinematics solution, 30

dynamics, 33

E

effect of vision, 104

end effector, 18

end effector, gross motion, 180

end effector, orientation, 180

Euler, Leonhard, 59

exhaustive search, 64

F

feedback control, 37

Fraenkel's algorithm, 65

Frenet frame, 146, 161

front contact, 229

front shadow, 229

G

generalized cylinder, 277, 308

generic path, 321

geodesic curves in C-space, 194

graph searching, 61

guarded motion, 40

H

heuristic algorithms, 50

hinged robot body, 15

hit point, ...