Redundancy in Robot Manipulators and Multi-Robot Systems

Editors:

ISBN: 978-3-642-33970-7 (Print) 978-3-642-33971-4 (Online)

Table of contents (12 chapters)

  1. Front Matter

    Pages 1-7

  2. No Access

    Book Chapter

    Pages 1-13

    Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators

  3. No Access

    Book Chapter

    Pages 15-33

    Low-Cost Multi-robot Localization

  4. No Access

    Book Chapter

    Pages 35-51

    Using Torque Redundancy to Optimize Contact Forces in Legged Robots

  5. No Access

    Book Chapter

    Pages 53-75

    Exploiting Heterogeneity in Robotic Networks

  6. No Access

    Book Chapter

    Pages 77-91

    Variational Analysis of Snakelike Robots

  7. No Access

    Book Chapter

    Pages 93-108

    Robustness in the Presence of Task Differentiation in Robot Ensembles

  8. No Access

    Book Chapter

    Pages 109-123

    Cooperating Mobile Cable Robots: Screw Theoretic Analysis

  9. No Access

    Book Chapter

    Pages 125-143

    Deployment Algorithms for Dynamically Constrained Mobile Robots

  10. No Access

    Book Chapter

    Pages 145-166

    Kalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations

  11. No Access

    Book Chapter

    Pages 167-181

    M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds

  12. No Access

    Book Chapter

    Pages 183-199

    Individual Control of Redundant Skeletal Muscles Using an Exoskeleton Robot

  13. No Access

    Book Chapter

    Pages 201-240

    Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements

  14. Back Matter

    Pages 0--1