696 pages | 702 B/W Illus.
This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.
1. Introduction. 2. Learning Systems: Primer. 3. System Model: Manipulators and Mobile Robot. 4. System Dynamics. 5. Visual Perception. 6. Hand-eye Coordination - Eye to Hand and Eye in Hand. 7. Imitation Learning. 8. Visual Grasping. 9. 2-D and 3-D Motion Planning. 10. Mapping, Localization and Navigation. 11. Control of Multi-Robot Systems. 12. Application: Ware House Automation. 13. Application: Intelligent Control of Mobile Robots. 14. Application: Human Following Mobile Robots. 15. Conclusion.