1CHAPTER 1 Robotics Fundamentals
808.1 Wheeled Mobile Robots
21.1 Definition of a Robot
818.1.1 Drivetrains
31.2 Robot Components
828.1.2 Steering
41.3 Robot Control Systems
838.1.3 Wheel Encoders & Odometry
51.4 Applications of Robots
848.1.4 Navigation and Path Planning
6CHAPTER 2 Robot Locomotion
858.2 Legged and Humanoid Robots
72.1.1 Two-Wheeled Balancing Robots
868.2.1 Balancing and Walking
82.1.2 Differential Drive
878.2.2 Manipulation
92.1.3 Other Wheel Arrangements
888.3 Swarm Robotics
102.2 Legged Robot Locomotion
898.3.1 Key Concepts
112.2.1 Bipedal Walking
908.3.2 Capabilities and Applications
122.2.2 Quadruped & Hexapod Walking
918.3.3 Platforms
132.2.3 Hopping & Other Gaits
928.3.4 Algorithms
142.3 Aerial and Aquatic Robot Mobility
93CHAPTER 9 Field and Service Robots
152.3.1 Aerial Robots
949.1 Agricultural Robots
162.3.2 Aquatic Vehicles
959.1.1 Precision Farming Robots
17CHAPTER 3 Robot Manipulators
969.1.2 Weeding and Mowing Robots
183.1 Types of Robot Manipulators
979.1.3 Harvesting Robots
193.1.1 Cartesian/Rectangular Robots
989.2 Healthcare Robots
203.1.2 Cylindrical Robots
999.2.1 Robotic Surgery
213.1.3 Spherical/Polar Robots
1009.2.2 Prosthetics and Exoskeletons
223.1.4 SCARA Robots
1019.3 Household Robots
233.2 Degrees of Freedom
1029.3.1 Floor Cleaning Robots
243.3 Work Envelope Optimization
1039.3.2 Lawn Mowing Robots
253.4 Inverse Kinematics
104CHAPTER 10 Space and Underwater Robots
26CHAPTER 4 Robot Sensors and Actuators
10510.1 Space Robots
274.1 Proprioceptive sensors
10610.1.1 Planetary Rovers
284.1.1 Encoders, resolvers, potentiometers
10710.1.2 Orbital Robots and Satellites
294.1.2 Accelerometers
10810.1.3 Manipulator Arms
304.1.3 Gyroscopes
10910.2 Underwater Robots
314.2 Exteroceptive Sensors
11010.2.1 Remotely Operated Vehicles
324.2.1 Tactile Sensors
11110.2.2 Autonomous Underwater Vehicles
334.2.2 Rangefinders
11211.1 Types of Aerial Robots
344.2.3 Cameras & Computer Vision
11311.1.1 Fixed Wing Drones
354.2.4 Additional Exteroceptive Sensors
11411.1.2 Rotary Wing Drones
364.3 Actuators
11511.1.3 Hybrid Vehicles
374.3.1 Electric Actuators
11611.2 Quadcopters and multirotors
384.3.2 Hydraulic Actuators
11711.3 Control and stabilization
394.3.3 Pneumatic Actuators
11811.4 Swarms and Formation Flight
404.3.4 Actuator Control Systems
119CHAPTER 12 Robot Mechanics
41CHAPTER 5 Robot Intelligence and Control
12012.1 Kinematics
425.1 Robot Control Architectures
12112.1.1 Forward and Inverse Kinematics
435.1.1 Deliberative Architectures
12212.1.2 Jacobians and Velocity Kinematics
445.1.2 Reactive Architectures
12312.2 Dynamics
455.1.3 Hybrid Deliberative-Reactive Control
12412.2.1 Lagrange Formulation
465.2 Navigation and SLAM
12512.2.2 Newton-Euler Formulation
475.2.1 Mapping Environments
12612.3 Simulation
485.2.2 Localization
12712.4 Control
495.2.3 Path Planning
128CHAPTER 13 Advanced Mobility Systems
505.3 Motion Planning
12913.1 Wheeled Locomotion
515.3.1 Configuration Space
13013.1.1 Omnidirectional Wheels
525.3.2 Collision Avoidance
13113.1.2 Reconfigurable Wheels
535.4 Learning and Adaptive Systems
13213.2 Legged Locomotion
545.4.1 Machine Learning Techniques
13313.2.1 Passive Dynamics
555.4.2 Adaptive Control Systems
13413.2.2 Bio-Inspired and Humanoid Robots
56CHAPTER 6 Embedded System Design
13513.3 Hybrid Wheeled-Leg Robots
576.1 Microcontrollers vs Microprocessors
136CHAPTER 14 Advanced Intelligence
586.2 Real-Time Operating Systems
13714.1 Machine Learning for Robotics
596.3 Robot Software Frameworks
13814.1.1 Supervised, Unsupervised, Reinforcement Learning
606.3.1 Robot Operating System (ROS)
13914.1.2 Deep Learning and Neural Networks
616.3.2 Additional Frameworks
14014.2 Deep Learning Methods
626.4 Communication Buses
14114.2.1 Convolutional Neural Networks
636.4.1 Serial Networks
14214.2.2 Recurrent Neural Networks
646.4.2 Industrial Networks
14314.3 Cloud Robotics and Edge Computing
65CHAPTER 7 Industrial Robots
144CHAPTER 15 Human-Robot Interaction
667.1 Common Applications
14515.1 Robot Natural Language Capabilities
677.1.1 Material Handling
14615.2 Social Robots and Emotional Intelligence
687.1.2 Welding
14715.3 Trust and Ethical Considerations
697.2 Workcell Design
14815.4 Collaborative Robots and Safety
707.2.1 Work Envelope Analysis
149CHAPTER 16 The Future of Robotics
717.2.2 Fixture Design
15016.1 Current Trends and Innovations
727.2.3 End Effector Integration
15116.2 Grand Challenges and Competitions
737.2.4 Controller Programming
15216.3 Ethics, Standards and Policy
747.2.5 Cell Layout Optimization
15316.4 Careers and Jobs in Robotics
757.3 Safety and Compliance
154Glossary
767.3.1 Risk Assessment
155Aerial Robotics
777.3.2 Safeguarding
156CHAPTER
787.3.3 Validation & Documentation
157Index
79CHAPTER 8 Mobile Robots
