[robotics-worldwide] New book: Redundancy in Robot Manipulators and Multi-Robot Systems, Springer

Dejan Milutinovic dejan at soe.ucsc.edu
Sat Oct 20 19:19:23 PDT 2012

Redundancy in Robot Manipulators and Multi-Robot Systems
Milutinovic, Dejan; Rosen, Jacob (Eds.), Springer


About the book:  The trend in the evolution of robotic systems is that 
the number
of degrees of freedom increases. This is visible both in robot 
manipulator design
and in the shift of focus from single to multi-robot systems. Following 
the principles
of evolution in nature, one may infer that adding degrees of freedom to 
systems design is beneficial. However, since nature did not select 
snake-like bodies
for all creatures, it is reasonable to expect the presence of a certain 
selection pressure
on the number of degrees of freedom. Thus, understanding costs and 
benefits of
multiple degrees of freedom, especially those that create redundancy, is 
a fundamental
problem in the field of robotics.

This volume is mostly based on the works presented at the workshop on 
Redundancy in
Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International 
Conference on
Intelligent Robots and Systems - IROS 2011. The workshop was envisioned 
as a dialog between
researchers from two separate, but obviously related fields of robotics: 
one that deals with
systems having multiple degrees of freedom, including redundant robot 
manipulators, and
the other that deals with multi-robot systems. The volume consists of 
twelve chapters, each
representing one of the two fields.

Table of contents: (1) Performance of Serial Underactuated Mechanisms: 
Number of Degrees of
Freedom and Actuators (2) Low-Cost Multi-Robot Localization (3) Using 
torque redundancy to
optimize contact forces in legged robots (4) Exploiting Heterogeneity in 
Robotic Networks
(5) Variational Analysis of Snakelike Robots (6) Robustness in the 
Presence of Task Differentiation
in Robot Ensembles (7) Cooperating Mobile Cable Robots (8) Deployment 
algorithms for
dynamically constrained mobile robots (9) Kalman Smoothing for 
Distributed Optimal Feedback
Control of Unicycle Formations (10) M*: A Complete Multirobot Path 
Planning Algorithm
with Optimality Bounds (11) Individual Control of Redundant Skeletal 
Muscles using an
Exoskeleton Robot (12) Synthesizing Redundancy Resolution Criteria of 
the Human Arm Posture
in Reaching Movements.

Dejan Milutinovic
Assistant Professor
Applied Mathematics and Statistics
Baskin School of Engineering
University of California at Santa Cruz

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