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000331065 010__ $$a  2007000981
000331065 020__ $$a9780262633543 (pbk. : alk. paper)
000331065 020__ $$a026263354X (pbk. : alk. paper)
000331065 035__ $$a(OCoLC)ocm79002109
000331065 035__ $$a331065
000331065 040__ $$aDLC$$cDLC$$dBTCTA$$dBAKER$$dUKM$$dC#P$$dYDXCP$$dIXA$$dIG#$$dYBM$$dNOR$$dIOE$$dXXH
000331065 049__ $$aISEA
000331065 05000 $$aTJ211$$b.M3673 2007
000331065 08200 $$a629.8/92$$222
000331065 1001_ $$aMatarić, Maja J.
000331065 24514 $$aThe robotics primer /$$cMaja J. Matarić ; illustrations by Nathan Koenig.
000331065 260__ $$aCambridge, Mass. :$$bThe MIT Press,$$cc2007.
000331065 300__ $$axvii, 306 p. :$$bill. ;$$c23 cm.
000331065 4901_ $$aIntelligent robotics and autonomous agents series
000331065 504__ $$aIncludes bibliographical references (p. [289]-291) and index.
000331065 50500 $$tPreface --$$g1.$$tWhat is a robot? --$$g2.$$tWhere do robots come from? --$$g2.1.$$tControl theory--$$g2.2.$$tCybernetics --$$g2.2.1.$$tGrey Walter's tortoise --$$g2.2.2.$$tBraitenberg's vehicles --$$g2.3.$$tArtificial intelligence --$$g3.$$tWhat's in a robot? --$$g3.1.$$tEmbodiment --$$g3.2.$$tSensing --$$g3.3.$$tAction  --$$g3.4.$$tBrains and brawn --$$g3.5$$tAutonomy --$$g4.$$tArms, legs, wheels, tracks, and what really drives them --$$g4.1.$$tActive vs. passive actuation --$$g4.2.$$tTypes of actuators --$$g4.3.$$tMotors --$$g4.3.1.$$tDirect-current (DC) motors --$$g4.3.2.$$tGearing --$$g4.3.3.$$tServo motors --$$g4.4.$$tDegrees of freedom --$$g5.$$tMove it! --$$g5.1.$$tStability --$$g5.2.$$tMoving and gaits --$$g5.3.$$tWheels and steering --$$g5.4.$$tStaying on the path vs. getting there --$$g6.$$tGrasping at straws --$$g6.1.$$tEndeffectors --$$g6.2.$$tTeleoperation --$$g6.3.$$tWhy is manipulation hard? --$$g7.$$tWhat's going on? --$$g7.1.$$tLevels of processing --
000331065 50500 $$g8.$$tSwitch on the light --$$g8.1.$$tPassive vs. active sensors --$$g8.2.$$tSwitches -$$g8.3.$$tLight sensors --$$g8.3.1.$$tPolarized light --$$g8.3.2.$$tReflective optosensors --$$g8.3.3.$$tReflectance sensors --$$g8.3.4.$$tInfra red light --$$g8.3.5.$$tModulation and demodulation of light --$$g8.3.6.$$tBreak beam sensors --$$g8.3.7.$$tShaft encoders --$$g8.4.$$tResistive position sensors --$$g8.4.1.$$tPotentiometers --$$g9. Sonars, lasers, and cameras --$$g9.1.$$tUltrasonic or sonar sensing --$$g9.1.1.$$tSonar before and beyond robotics --$$g9.1.2.$$tSpecular reflection --$$g9.2.$$tLaser sensing --$$g9.3.$$tVisual sensing --$$g9.3.1.$$tCameras --$$g9.3.2.$$tEdge detection --$$g9.3.3.$$tModel-based vision --$$g9.3.4.$$tMotion vision --$$g9.3.5.$$tStereo vision --$$g9.3.6.$$tTexture, shading, contours --$$g9.3.7.$$tBiological vision --$$g9.3.8.$$tVision for robots --
000331065 50500 $$g10.$$tStay in control --$$g10.1.$$tFeedback or closed loop control --$$g10.2. The$$tmany faces of error --$$g10.3. An$$texample of a feedback control robot --$$g10.4.$$tTypes of feedback control --$$g10.4.1.$$tProportional control --$$g10.4.2.$$tDerivative control --$$g10.4.3.$$tIntegral control --$$g10.4.4.$$tPD and PID control --$$g10.5.$$tFeedforward or open loop control --$$g11. The$$tbuilding blocks of control --$$g11.1.$$tWho needs control architectures? --$$g11.2.$$tLanguages for programming robots --$$g11.3.$$tAnd the architectures are... --$$g11.3.1.$$tTime --$$g11.3.2.$$tModularity --$$g11.3.3.$$tRepresentation --$$g12.$$tWhat's on your head? --$$g12.1. The$$tmany ways to make a map --$$g12.2.$$tWhat can the robot represent? --$$g12.3.$$tCosts of representing --$$g13.$$tThink hard, act later --$$g13.1.$$tWhat is planning? --$$g13.2.$$tCosts of planning --$$g14.$$tDon't think, react! --$$g14.1.$$tAction selection --$$g14.2.$$tSubsumption architecture --$$g14.3.$$tHerbert, or how to sequence behaviors through the world --
000331065 50500 $$g15.$$tThink and act separately, in parallel --$$g15.1.$$tDealing with changes in the world/map/task --$$g15.2.$$tPlanning and replanning --$$g15.3.$$tAvoiding replanning --$$g15.4.$$tOn-line and off-line planning --$$g16.$$tThink the way you act --$$g16.1.$$tDistributed representation --$$g16.2. An$$texample : distributed mapping --$$g16.2.1.$$tToto the robot --$$g16.2.2.$$tToto's navigation --$$g16.2.3.$$tToto's landmark detection --$$g16.2.4.$$tToto's mapping behaviors --$$g16.2.5.$$tPath planning in Toto's behavior map --$$g16.2.6.$$tToto's map-following --$$g17.$$tMaking your robot behave --$$g17.1.$$tBehavior arbitration : make a choice --$$g17.2.$$tBehavior fusion : sum it up --$$g18.$$tWhen the unexpected happens --$$g18.1. An$$texample : emergent wall-following --$$g18.2. The$$twhole is greater than the sum of its parts --$$g18.3.$$tComponents of emergence --$$g18.4.$$tExpect the unexpected --$$g18.5.$$tPredictability of surprise --$$g18.6.$$tGood vs. bad emergent behavior --$$g18.7.$$tArchitectures and emergence --$$g19.$$tGoing places --$$g19.1.$$tLocalization --$$g19.2.$$tSearch and path planning --$$g19.3.$$tSLAM --$$g19.4.$$tCoverage --
000331065 50500 $$g20.$$tGo, team! --$$g20.1.$$tBenefits of teamwork --$$g20.2.$$tChallenges of teamwork --$$g20.3.$$tTypes of groups and teams --$$g20.4.$$tCommunication --$$g20.4.1.$$tKin recognition --$$g20.5.$$tGetting a team to play together --$$g20.5.1.$$tI'm the boss : centralized control --$$g20.5.2.$$tWork it out as a team : distributed control --$$g20.6.$$tArchitectures for multi-robot control --$$g20.6.1.$$tPecking orders : hierarchies --$$g21.$$tThings keep getting better --$$g21.1.$$tReinforcement learning --$$g21.2.$$tSupervised learning --$$g21.3.$$tLearning by imitation/from demonstration --$$g21.4.$$tLearning and forgetting --$$g22.$$tWhere to next? --$$g22.1.$$tSpace robotics --$$g22.2.$$tSurgical robotics --$$g22.3.$$tSelf-reconfigurable robotics --$$g22.4.$$tHumanoid robotics --$$g22.5.$$tSocial robotics and human-robot interaction --$$g22.6.$$tService, assistive and rehabilitation robotics --$$g22.7.$$tEducational robotics --$$g22.8.$$tEthical implications --$$tBibliography --$$tGlossary --$$tIndex.
000331065 650_0 $$aRobotics.
000331065 830_0 $$aIntelligent robotics and autonomous agents.
000331065 85200 $$bgen$$hTJ211$$i.M3673$$i2007
000331065 85641 $$3Table of contents$$uhttp://www.loc.gov/catdir/toc/fy0801/2007000981.html
000331065 909CO $$ooai:library.usi.edu:331065$$pGLOBAL_SET
000331065 980__ $$aBIB
000331065 980__ $$aBOOK