Autonomous Robots: From Biological Inspiration to Implementation and Control
暫譯: 自主機器人:從生物啟發到實現與控制
George A. Bekey
- 出版商: MIT
- 出版日期: 2005-05-20
- 售價: $2,780
- 貴賓價: 9.5 折 $2,641
- 語言: 英文
- 頁數: 594
- 裝訂: Hardcover
- ISBN: 0262025787
- ISBN-13: 9780262025782
-
相關分類:
機器人製作 Robots
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商品描述
Description:
Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner. In this book, George Bekey offers an introduction to the science and practice of autonomous robots that can be used both in the classroom and as a reference for industry professionals. He surveys the hardware implementations of more than 300 current systems, reviews some of their application areas, and examines the underlying technology, including control, architectures, learning, manipulation, grasping, navigation, and mapping. Living systems can be considered the prototypes of autonomous systems, and Bekey explores the biological inspiration that forms the basis of many recent developments in robotics. He also discusses robot control issues and the design of control architectures.
After an overview of the field that introduces some of its fundamental concepts, the book presents background material on hardware, control (from both biological and engineering perspectives), software architecture, and robot intelligence. It then examines a broad range of implementations and applications, including locomotion (wheeled, legged, flying, swimming, and crawling robots), manipulation (both arms and hands), localization, navigation, and mapping. The many case studies and specific applications include robots built for research, industry, and the military, among them underwater robotic vehicles, walking machines with four, six, and eight legs, and the famous humanoid robots Cog, Kismet, ASIMO,"and QRIO. The book concludes with reflections on the future of robotics -- the potential benefits as well as the possible dangers that may arise from large numbers of increasingly intelligent and autonomous robots.
George A. Bekey is Professor Emeritus of Computer Science, Electrical Engineering, and Biomedical Engineering at the University of Southern California. He has published over 200 papers and several books in robotics, biomedical engineering, computer simulation, control systems, and human-machine systems. Dr. Bekey is a Member of the National Academy of Engineering and a Fellow of the Institute of Electrical and Electronics Engineers (IEEE) and of the American Association for Artificial Intelligence (AAAI). He is editor-in-chief of the journal Autonomous Robots and founding editor of IEEE Transactions on Robotics and Automation.
Table of Contents:
Preface xiii 1 Autonomy and Control in Animals and Robots 1 2 Control and Regulation in Biological Systems 27 3 Fundamental Structural Elements 45 4 Low-Level Robot Control 71 5 Software Architectures for Autonomous Robots 97 6 Robot Learning 125 7 Robot Locomotion: An Overview 185 8 Biped Locomotion 253 9 Locomotion in Animals and Robots with Four, Six, and Eight Legs 285 10 Arm Motion and Manipulation 333 11 Control of Grasping in Human and Robot Hands 363 12 Control of Multiple Robots 391 13 Humanoid Robots 441 14 Localization, Navigation, and Mapping 473 15 The Future of Autonomous Robots 509 Appendix: Introduction to Linear Feedback Control Systems 519 References 531 Author Index 557 Index 563
商品描述(中文翻譯)
**描述:**
自主機器人是能夠在沒有明確人類控制的情況下,自行執行任務的智能機器。範例包括自主直升機和 Roomba(機器人吸塵器)。在這本書中,George Bekey 提供了自主機器人科學與實踐的介紹,適用於教室使用及作為業界專業人士的參考。他調查了超過 300 個當前系統的硬體實現,回顧了一些應用領域,並檢視了控制、架構、學習、操作、抓取、導航和地圖製作等基礎技術。生物系統可以被視為自主系統的原型,Bekey 探索了許多近期機器人發展的生物靈感。他還討論了機器人控制問題及控制架構的設計。
在介紹該領域的一些基本概念後,這本書提供了有關硬體、控制(從生物和工程的角度)、軟體架構和機器人智能的背景資料。接著,它檢視了廣泛的實現和應用,包括運動(輪式、腿式、飛行、游泳和爬行機器人)、操作(手臂和手)、定位、導航和地圖製作。許多案例研究和具體應用包括為研究、工業和軍事建造的機器人,其中包括水下機器人、四足、六足和八足的行走機器,以及著名的人形機器人 Cog、Kismet、ASIMO 和 QRIO。這本書以對機器人未來的反思作結,探討了大量日益智能和自主的機器人可能帶來的潛在好處以及可能的危險。
George A. Bekey 是南加州大學計算機科學、電氣工程和生物醫學工程的名譽教授。他在機器人學、生物醫學工程、計算機模擬、控制系統和人機系統方面發表了超過 200 篇論文和幾本書籍。Bekey 博士是美國國家工程院的成員,也是電氣和電子工程師學會(IEEE)和美國人工智慧協會(AAAI)的會士。他是期刊《Autonomous Robots》的主編,也是《IEEE Transactions on Robotics and Automation》的創始編輯。
**目錄:**
- 前言
- 1 自主性與動物及機器人的控制
- 2 生物系統中的控制與調節
- 3 基本結構元素
- 4 低階機器人控制
- 5 自主機器人的軟體架構
- 6 機器人學習
- 7 機器人運動:概述
- 8 雙足運動
- 9 四足、六足和八足動物及機器人的運動
- 10 手臂運動與操作
- 11 人類與機器人手的抓取控制
- 12 多機器人的控制
- 13 人形機器人
- 14 定位、導航與地圖製作
- 15 自主機器人的未來
- 附錄:線性反饋控制系統介紹
- 參考文獻
- 作者索引
- 索引