LEADER 03949nam 2200649 a 450 001 9910437882503321 005 20200520144314.0 010 $a9781283911191 010 $a1283911191 010 $a9783642339714 010 $a3642339719 024 7 $a10.1007/978-3-642-33971-4 035 $a(CKB)2670000000279540 035 $a(EBL)1082757 035 $a(OCoLC)821172383 035 $a(SSID)ssj0000799100 035 $a(PQKBManifestationID)11440648 035 $a(PQKBTitleCode)TC0000799100 035 $a(PQKBWorkID)10764106 035 $a(PQKB)10545642 035 $a(DE-He213)978-3-642-33971-4 035 $a(MiAaPQ)EBC1082757 035 $a(PPN)168325837 035 $a(EXLCZ)992670000000279540 100 $a20120917d2013 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aRedundancy in robot manipulators and multi-robot systems /$fDejan Milutinovic and Jacob Rosen (eds.) 205 $a1st ed. 210 $aNew York $cSpringer$d2013 215 $a1 online resource (239 p.) 225 1 $aLecture Notes in electrical engineering,$x1876-1100 ;$v57 300 $aDescription based upon print version of record. 311 08$a9783642441394 311 08$a3642441394 311 08$a9783642339707 311 08$a3642339700 320 $aIncludes bibliographical references and index. 327 $aPerformance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators -- Low-Cost Multi-Robot Localization -- Using torque redundancy to optimize contact forces in legged robots -- Exploiting Heterogeneity in Robotic Networks -- Variational Analysis of Snakelike Robots -- Robustness in the Presence of Task Differentiation in Robot Ensembles -- Cooperating Mobile Cable Robots: -- Deployment algorithms for dynamically constrained mobile robots -- Kalman Smoothing for Distributed Optimal Feedback Control of Unicycle Formations -- M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds -- Individual Control of Redundant Skeletal Muscles using an Exoskeleton Robot -- Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements. 330 $aThe trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields. 410 0$aLecture notes in electrical engineering ;$vv. 57. 606 $aRobots 615 0$aRobots. 676 $a629.8/92 676 $a629.892 701 $aMilutinovic$b Dejan$01754252 701 $aRosen$b Jacob$01754253 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910437882503321 996 $aRedundancy in robot manipulators and multi-robot systems$94190494 997 $aUNINA