Biomimetic robotics : mechanisms and control

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Title:

Personal Author:

Vepa, Ranjan

Publication Information:

New York, NY : Cambridge University Press, 2009

Physical Description:

xvi, 343 p. : ill. ; 26 cm.

ISBN:

9780521895941

Subject Term:

Robotics

Biomimetics

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010193078	TJ211 V47 2009	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010250222	TJ211 V47 2009	Open Access Book	Book	Searching... Unknown

This book is written as an initial course in robotics. It is ideal for study of unmanned aerial or underwater vehicles, a topic on which few books exist. It presents the fundamentals of robotics, from an aerospace perspective, by considering only the field of robot mechanisms. For an aerospace engineer, three dimensional and parallel mechanisms - flight simulation, unmanned aerial vehicles, and space robotics - take on an added significance. Biomimetic robot mechanisms are fundamental to manipulators, walking, mobile, and flying robots. As a distinguishing feature, this book gives a unified and integrated treatment of biomimetic robot mechanisms. It is ideal preparation for the next robotics module: practical robot control design. While the book focuses on principles, computational procedures are also given due importance. Students are encouraged to use computational tools to solve the examples in the exercises. The author has also included some additional topics beyond his course coverage for the enthusiastic reader to explore.

Preface	p. xiii
Acronyms	p. xv
1 The Robot	p. 1
1.1 Robotics: An Introduction	p. 1
1.2 Robot-Manipulator Fundamentals and Components	p. 5
1.3 From Kinematic Pairs to the Kinematics of Mechanisms	p. 12
1.4 Novel Mechanisms	p. 13
1.4.1 Rack-and-Pinion Mechanism	p. 14
1.4.2 Pawl-and-Ratchet Mechanism	p. 14
1.4.3 Pantograph	p. 15
1.4.4 Quick-Return Mechanisms	p. 15
1.4.5 Ackermann Steering Gear	p. 16
1.4.6 Sun and Planet Epicyclic Gear Train	p. 17
1.4.7 Universal Joints	p. 17
1.5 Spatial Mechanisms and Manipulators	p. 18
1.6 Meet Professor da Vinci the Surgeon, PUMA, and SCARA	p. 20
1.7 Back to the Future	p. 23
Exercises	p. 24
2 Biomimetic Mechanisms	p. 25
2.1 Introduction	p. 25
2.2 Principles of Legged Locomotion	p. 27
2.2.1 Inchworm Locomotion	p. 29
2.2.2 Walking Machines	p. 30
2.2.3 Autonomous Footstep Planning	p. 31
2.3 Imitating Animals	p. 31
2.3.1 Principles of Bird Flight	p. 33
2.3.2 Mechanisms based on Bird Flight	p. 34
2.3.3 Swimming Like a Fish	p. 37
2.4 Biomimetic Sensors and Actuators	p. 39
2.4.1 Action Potentials	p. 43
2.4.2 Measurement and Control of Cellular Action Potentials	p. 46
2.4.3 Bionic Limbs: Interfacing Artificial Limbs to Living Cells	p. 47
2.4.4 Artificial Muscles: Flexible Muscular Motors	p. 51
2.4.5 Prosthetic Control of Artificial Muscles	p. 53
2.5 Applications in Computer-Aided Surgery and Manufacture	p. 55
2.5.1 Steady Hands: Active Tremor Compensation	p. 56
2.5.2 Design of Scalable Robotic Surgical Devices	p. 58
2.5.3 Robotic Needle Placement and Two-Hand Suturing	p. 60
Exercises	p. 61
3 Homogeneous Transformations and Screw Motions	p. 62
3.1 General Rigid Motions in Two Dimensions	p. 62
3.1.1 Instantaneous Centers of Rotation	p. 64
3.2 Rigid Body Motions in Three Dimensions: Definition of Pose	p. 64
3.2.1 Homogeneous Coordinates: Transformations of Position and Orientation	p. 65
3.3 General Motions of Rigid Frames in Three Dimensions: Frames with Pose	p. 66
3.3.1 The Denavit-Hartenberg Decomposition	p. 66
3.3.2 Instantaneous Axis of Screw Motion	p. 67
3.3.3 A Screw from a Twist	p. 69
Exercises	p. 70
4 Direct Kinematics of Serial Robot Manipulators	p. 74
4.1 Definition of Direct or Forward Kinematics	p. 74
4.2 The Denavit-Hartenberg Convention	p. 74
4.3 Planar Anthropomorphic Manipulators	p. 76
4.4 Planar Nonanthropomorphic Manipulators	p. 78
4.5 Kinematics of Wrists	p. 80
4.6 Direct Kinematics of Two Industrial Manipulators	p. 81
Exercises	p. 86
5 Manipulators with Multiple Postures and Compositions	p. 89
5.1 Inverse Kinematics of Robot Manipulators	p. 89
5.1.1 The Nature of Inverse Kinematics: Postures	p. 91
5.1.2 Some Practical Examples	p. 95
5.2 Parallel Manipulators: Compositions	p. 99
5.2.1 Parallel Spatial Manipulators: The Stewart Platform	p. 101
5.3 Workspace of a Manipulator	p. 105
Exercises p. 107
6 Grasping: Mechanics and Constraints	p. 111
6.1 Forces and Moments	p. 111
6.2 Definition of a Wrench	p. 112
6.3 Mechanics of Gripping	p. 112
6.4 Transformation of Forces and Moments	p. 114
6.5 Compliance	p. 115
6.5.1 Passive and Active Compliance	p. 116
6.5.2 Constraints: Natural and Artificial	p. 116
6.5.3 Hybrid Control	p. 117
Exercises p. 118
7 Jacobians	p. 120
7.1 Differential Motion	p. 120
7.1.1 Velocity Kinematics	p. 123
7.1.2 Translational Velocities and Acceleration	p. 124
7.1.3 Angular Velocities	p. 127
7.2 Definition of a Screw Vector: Instantaneous Screws	p. 127
7.2.1 Duality with the Wrench	p. 129
7.2.2 Transformation of a Compliant Body Wrench	p. 130
7.3 The Jacobian and the Inverse Jacobian	p. 131
7.3.1 The Mobility Criterion: Over constrained Mechanisms	p. 133
7.3.2 Singularities: Physical Interpretation	p. 134
7.3.3 Manipulability: Putting Redundant Mechanisms to Work	p. 136
7.3.4 Computing the Inverse Kinematics: The Lyapunov Approach	p. 137
Exercises	p. 140
8 Newtonian, Eulerian, and Lagrangian Dynamics	p. 142
8.1 Newtonian and Eulerian Mechanics	p. 142
8.1.1 Kinetics of Screw Motion: The Newton-Euler Equations	p. 145
8.1.2 Moments of Inertia	p. 146
8.1.3 Dynamics of a Link's Moment of Inertia	p. 147
8.1.4 Recursive Form of the Newton-Euler Equations	p. 149
8.2 Lagrangian Dynamics of Manipulators	p. 152
8.2.1 Forward and Inverse Dynamics	p. 154
8.3 The Principle of Virtual Work	p. 156
Exercises	p. 158
9 Path Planning, Obstacle Avoidance, and Navigation	p. 164
9.1 Fundamentals of Trajectory Following	p. 164
9.1.1 Path Planning: Trajectory Generation	p. 165
9.1.2 Splines, Bezier Curves, and Bernstein Polynomials	p. 167
9.2 Dynamic Path Planning	p. 172
9.3 Obstacle Avoidance	p. 174
9.4 Inertial Measuring and Principles of Position and Orientation Fixing	p. 180
9.4.1 Gyro-Free Inertial Measuring Units	p. 188
9.4.2 Error Dynamics of Position and Orientation	p. 189
Exercises	p. 193
10 Hamiltonian Systems and Feedback Linearization	p. 198
10.1 Dynamical Systems of the Liouville Type	p. 198
10.1.1 Hamilton's Equations of Motion	p. 199
10.1.2 Passivity of Hamiltonian Dynamics	p. 202
10.1.3 Hamilton's Principle	p. 203
10.2 Contact Transformation	p. 204
10.2.1 Hamilton-Jacobi Theory	p. 205
10.2.2 Significance of the Hamiltonian Representations	p. 206
10.3 Canonical Representations of the Dynamics	p. 207
10.3.1 Lie Algebras	p. 208
10.3.2 Feedback Linearization	p. 210
10.3.3 Partial State-Feedback Linearization	p. 213
10.3.4 Involutive Transformations	p. 214
10.4 Applications of Feedback Linearization	p. 215
10.5 Optimal Control of Hamiltonian and Near-Hamiltonian Systems	p. 223
10.6 Dynamics of Nonholonomic Systems	p. 225
10.6.1 The Bicycle	p. 228
Exercises	p. 236
11 Robot Control	p. 242
11.1 Introduction	p. 242
11.1.1 Adaptive and Model-Based Control	p. 242
11.1.2 Taxonomies of Control Strategies	p. 252
11.1.3 Human-Centered Control Methods	p. 252
11.1.4 Robot-Control Tasks	p. 257
11.1.5 Robot-Control Implementations	p. 258
11.1.6 Controller Partitioning and Feedforward	p. 259
11.1.7 Independent Joint Control	p. 260
11.2 HAL, Do You Understand JAVA?	p. 261
11.3 Robot Sensing and Perception	p. 263
Exercises	p. 269
12 Biomimetic Motive Propulsion	p. 272
12.1 Introduction	p. 272
12.2 Dynamics and Balance of Walking Biped Robots	p. 272
12.2.1 Dynamic Model for Walking	p. 272
12.2.2 Dynamic Balance during Walking: The Zero-Moment Point	p. 277
12.2.3 Half-Model for a Quadruped Robot: Dynamics and Control	p. 279
12.3 Modeling Bird Flight: Robot Manipulators in Free Flight	p. 281
12.3.1 Dynamics of a Free-Flying Space Robot	p. 282
12.3.2 Controlling a Free-Flying Space Robot	p. 284
12.4 Flapping Propulsion of Aerial Vehicles	p. 285
12.4.1 Unsteady Aerodynamics of an Aerofoil	p. 287
12.4.2 Generation of Thrust	p. 294
12.4.3 Controlled Flapping for Flight Vehicles	p. 299
12.5 Underwater Propulsion and Its Control	p. 301
Exercises	p. 304
Answers to Selected Exercises	p. 309
Appendix: Attitude and Quaternions	p. 317
Bibliography	p. 335
Index	p. 339

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