Algorithmic and Computational Robotics: New Directions

Citation

Rigelsford, J. (2001), "Algorithmic and Computational Robotics: New Directions", Industrial Robot, Vol. 28 No. 6. https://doi.org/10.1108/ir.2001.04928fae.002

Algorithmic and Computational Robotics: New Directions

Edited by B.R. Donald, K. Lynch and D. RusAK Peters2001400 pp.ISBN 1-56881-125-X£38.00, hardcover Keywords: Algorithms, Robotics

Algorithmic and Computational Robotics presents 28 papers from the Fourth International Workshop on the Algorithmic Foundations of Robotics (WAFR). A sound understanding of how algorithms control the computational processes that relate sensors and actuators is vital for the development of new more efficient robots.

The first five chapters discuss topics including "Meso-scale self assembly", "Robust geometric computing in motion", and "Positioning symmetric and non-symmetric parts using radial and constant force fields". Chapters 6-11 present papers including "Closed-loop distributed manipulation using discrete actuator arrays", "Real-time global deformations", "Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting", and "Manipulation of pose distribution".

The remainder of the book addresses subjects that are related to more practical problems. Chapter 12 discusses "Image guided surgery", while the following two chapters address "Pulling motion based on tactile sensing" and "Compensatory grasping with the parallel jaw gripper". Chapters 15-22 present papers discussing "Optimal planning for co-ordinated vehicles", "A framework for steering dynamic robotic locomotion systems", "Randomized path planning for a rigid body based on hardware accelerated Voronoi sampling", and "Encoders for spherical motion using discrete optical sensors". Chapters 23 and 24 address "Notes on visibility roadmaps and path planning" and "Autobalancer: an online dynamic balance compensation scheme for humanoid robots", respectively. The remaining four chapters of this book discuss "Coupled oscillators for legged robots", "Reliable mobile robot navigation from unreliable visual cues", "Towards real-time motion planning in changing environments" and "Graphical construction of time optimal trajectories for differential drive robots".

Overall, this is a well written reference text that presents a diverse range of subjects which are essential to the development of new robot navigation a perception techniques. It includes control theory, computational and differential geometry in robotics, navigation and motion planning. Jon Rigelsford