2161

Acknowledgements Acknowl.

B.21 Actuators for Soft Robotics F.58 Robotics in Hazardous Applications by Alin Albu-Schäffer, Antonio Bicchi by James Trevelyan, William Hamel, The authors of this chapter have used liberally of Sung-Chul Kang work done by a group of collaborators involved James Trevelyan acknowledges Surya Singh for de- in the EU projects PHRIENDS, VIACTORS, and tailed suggestions on the original draft, and would also SAPHARI. We want to particularly thank Etienne Bur- like to thank the many unnamed mine clearance experts det, Federico Carpi, Manuel Catalano, Manolo Gara- who have provided guidance and comments over many bini, Giorgio Grioli, Sami Haddadin, Dominic Lacatos, years, as well as Prof. S. Hirose, Scanjack, Way In- Can zparpucu, Florian Petit, Joshua Schultz, Nikos dustry, Japan Atomic Energy Agency, and Total Marine Tsagarakis, Bram Vanderborght, and Sebastian Wolf for Systems for providing photographs. their substantial contributions to this chapter and the William R. Hamel would like to acknowledge work behind it. the US Department of Energy’s Robotics Crosscut- ting Program and all of his colleagues at the na- C.29 Inertial Sensing, GPS and Odometry tional laboratories and universities for many years by Gregory Dudek, Michael Jenkin of dealing with remote hazardous operations, and all We would like to thank Sarah Jenkin for her help with of his collaborators at the Field Robotics Center at the figures. Carnegie Mellon University, particularly James Os- born, who were pivotal in developing ideas for future D.36 Motion for Manipulation Tasks telerobots. by James Kuffner, Jing Xiao Sungchul Kang acknowledges Changhyun Cho, We acknowledge the contribution that the authors of the Woosub Lee, Dongsuk Ryu at KIST (Korean Institute first edition made to this chapter revision, particularly for Science and Technology), Korea for their provid- Sect. 36.1, Sect. 36.2, and Sect. 36.5. ing valuable documents and pictures. He also appreci- ates Munsang Kim for his leading projects that have E.52 Modeling and Control produced many of research achievements related to of Aerial Robots Sect. 58.3 enabling technologies. by Robert Mahony, Randal Beard, Vijay Kumar All three authors acknowledge comments from The authors would like to acknowledge the contribu- Prof. Cdric Pradalier of Georgia Tech Lorraine and tions of Peter Corke to the background material on Mark Noakes of the Oak Ridge National Laboratory in quadrotor vehicles (R. Mahony, V. Kumar, P. Corke: USA. Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor, Robotics Autom. Mag. 19(3), 20– F.59 Robotics in Mining 32 (2013)) and Eric Feron and Eric Johnson (E. Feron, by Joshua Marshall, Adrian Bonchis, Eduardo E. Johnson: Aerial robotics. In: Springer Handbook Nebot, Steven Scheding of Robotics, ed. by B. Siciliano, O. Khatib (Springer, The authors would like to thank Elliot Duff at CSIRO Berlin, Heidelberg 2008)) to the introductory material for his work in mustering the team for this chapter in this chapter. project. Thanks to Andrew Crose and Michael Lewis and Modular Mining Systems for help in obtaining F.57 Robotics in Construction information about the Komatsu AHS. Thanks also to by Kamel Saidi, Thomas Bock, Johan Larsson, Ola Pettersson, and Oscar Lundhede for Christos Georgoulas facilitating the use of some Atlas Copco AB images and Disclaimer: Although certain commercial construction video. equipment are included in this chapter, the inclusion of such information should in no way be construed as F.62 Intelligent Vehicles indicating that such products are endorsed by the Na- by Alberto Broggi, Alex Zelinsky, Ümit Özgüner, tional Institute of Standards and Technology (NIST) or Christian Laugier are recommended by NIST or that they are necessarily The authors acknowledge the contributions of Chuck the best equipment for the purposes described. Thorpe and Michel Parent, who made significant contri- by Aude Billard, Sylvain Calinon, Rüdiger Dillmann We warmly thank Danielfor Grollman and participation Stefan in Schaal chapter. drafting earlier versions of this Rocco Vertechy for their helpful assistance andtions sugges- in writing this manuscript. G.74 Learning from Humans by Massimo Bergamasco, Hugh Herr

The authors wishRouse, to Carlo thank Alberto Avizzano, Jared Marco Markowitz, Fontana, Elliott and butions to the first editionpart of the of handbook their chapter, contributions and remainedition. in We the also revised acknowledge second the helpfulof contributions Dizan Alejandro Vasquez. G.70 Human–Robot Augmentation Acknowl. 2162 Acknowledgements 2163

About the Authors

Markus W. Achtelik Chapter B.26

ETH Zurich Markus Wilhelm Achtelik received his Diploma degree in Electrical Engineering Authors Autonomous Systems Laboratory from the TU München in 2009. He finished his PhD in 2014 at the Autonomous Zurich, Switzerland Systems Lab (ASL) at ETH Zurich, and currently works as Postdoc at ASL on control, [email protected] state estimation and planning, with the goal of enabling autonomous manoeuvres for MAVs, using an IMU and onboard camera(s) as main sensors.

Alin Albu-Schäffer Chapter B.21

DLR Institute of Robotics and Alin Albu-Schäffer graduated in Electrical Engineering from the Technical University Mechatronics of Timisoara, in 1993 and got the PhD from the TU Munich in 2002. Since 2012 he Wessling, Germany is the Head of the Institute of Robotics and Mechatronics at the German Aerospace [email protected] Center, which he joined in 1995 as a PhD candidate. Moreover, he is a Professor at the TU Munich’s Computer Science Department. His research interests include robot design, modeling and control, flexible joints, as well as bio-inspired robot design.

Kostas Alexis Chapter B.26

ETH Zurich Kostas Alexis obtained his PhD in the field of aerial robotics control and Institute of Robotics and Intelligent collaboration from the University of Patras, Greece in 2011. Since then Systems he holds a senior researcher position at ASL – ETH Zurich. His research Zurich, Switzerland interests lie in control and optimization focusing on aerial systems [email protected] navigation. He is the co-author of more than 40 technical publications.

Jorge Angeles Chapter B.16

McGill University Jorge Angeles graduated as an Electromechanical Engineer and obtained Department of Mechanical Engineering the MEng degree in Mechanical Engineering, both at Universidad and Centre for Intelligent Machines Nacional Autónoma de México (UNAM), then received the PhD degree Montreal, Canada in Applied Mechanics from Stanford University. Research activities [email protected] include robot kinematics, dynamics, design, and control as well as design theory and methodology. Angeles is a Fellow of ASME, CSME, IEEE and RSC, The Academies of Arts, Humanities, and Sciences of Canada, and Honorary Member of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science.

Gianluca Antonelli Chapter E.51 For biographical details see “About the Multimedia Editors”

Fumihito Arai Chapter B.27

Nagoya University Fumihito Arai received Master of Eng. degree from Tokyo University of Science in Department of Micro-Nano Systems 1988. He received Dr. of Eng. from Nagoya University in 1993. Since 1994, he was Engineering Assistant Professor at Nagoya University, from 2005 Professor at Tohoku University. Nagoya, Japan Since 2010 he has been Professor at Nagoya University mainly engaged in micro- and [email protected] nano-robotics.

Michael A. Arbib Chapter G.77

University of Southern California Michael Arbib’s group at the University of Massachusetts Amherst (UMass) in- Computer Science, Neuroscience and ABLE troduced the notions of opposition space and affordances to the study of brain Project mechanisms for primate and control of robot hands. At the University of Southern Los Angeles, USA California, his group developed new models of primate visuomotor coordination, [email protected] including the first computational model of mirror neurons. He continues to develop the mirror system hypothesis for the evolution of the language-ready brain. . eaching ndoor eceived obotics in 2002 Robot Ethics obotics Engineering lling as well as for ltilevel and multi-room i eceived a BSc in Electrical Engi- 2000 receiving an MS and PhD in R ittsburgh, USA. His career is devoted to the design, hods for 3-D environment mode Massimo Bergamasco is ProfessorMachines at of the Theory Scuola of Superioredeals Sant’Anna, with Mechanisms Pisa, the and Italy. study His androbots research development of for haptic the interfaces and controlenvironments. wearable Presently of he the is focused interactionand on between general cognitive aspects humans processes. of and He perception Robotics virtual has Laboratory at been Sant’Anna. the Founder of the Perceptual Randal Beard isComputer a Engineering Professor at inhis Brigham PhD the Young from Department University. Rensselaerinclude Polytechnic He of Institute. guidance r Electrical His and research and control interests a of Fellow teams of the of IEEE unmanned and air an Associate vehicles. Fellow He of is AIAA. Chapter E.52 Chapter G.70 Maren Bennewitz isScience currently at an the Assistant UniversityLaboratory. of Professor In Freiburg the for and last Head Computer fewfor of years, humanoid the she Humanoid robots has been Robots environments navigating containing developing articulated in novel and solutions mu movable objects.probabilistic These met include Dr. J. Andrew BagnellMellon is University’s Robotics an Institute and Associate National Research R Center Professor (NREC) at and Carnegie the Machinecuses Learning on Department. machine His learning research andand fo- perception, adaptive planning control, optimization under uncertainty.neering He from r the UniversityInstitute of at Florida CMU in inand 1998. 2004, He respectively. joined the Robotics manipulation and navigation. Chapter A.15 Chapter E.45 Professor Bekey isa a Fellow member of IEEE of and other the societies. US National Academy of Engineering and Dr. Marcel Bergerman isof a Near faculty Earth at Autonomy,development, in Carnegie and P deployment Mellon of Universityagriculture robotic and and systems defense. co-founder for Dr. Bergermanprogramming field is and applications, a robotics in co-founder to particular of children. GreenE He Academy, got t his PhD from CMU in 1996. George A. Bekey isSouthern Professor California. He Emeritus was ofHis President Computer of current the Science research IEEE at Robotics interest the and is University Automation in of Society. robot ethics and is co-editor of Michael Beetz is athe Professor University Bremen for and Head Computer of Sciencehis the Institute at diploma for the Artificial degree Intelligence. Faculty He inhis received for Computer MSc, Informatics Science MPhil, of from andrespectively. the His PhD University research degrees of interests from Kaiserslauternknowledge include Yale processing, and plan-based University integrated control in robot of learning, 1993, robotic and 1994, cognitive agents, and perception. 1996, Chapter A.14 Chapter G.80 Chapter F.56 Massimo Bergamasco Randal W. Beard Brigham Young University Electrical and Computer Engineering Provo, USA [email protected] Sant’Anna School of AdvancedPerceptual Studies Robotics Laboratory Pisa, Italy [email protected] University Bremen Institute for Artificial Intelligence Bremen, Germany [email protected] Carnegie Mellon University Robotics Institute Pittsburgh, USA [email protected] Carnegie Mellon University Robotics Institute Pittsburgh, USA [email protected] University of Bonn Institute for Computer ScienceBonn, VI Germany [email protected] Marcel Bergerman Maren Bennewitz Michael Beetz J. Andrew Bagnell

University of SouthernDepartment California of Computer Science Arroyo Grande, USA [email protected] George Bekey Authors 2164 About the Authors About the Authors 2165

Antonio Bicchi Chapter B.21

University of Pisa Antonio Bicchi is Professor of Robotics at the University of Pisa, Senior Scientist at Interdepartmental Research Center “E. the Italian Institute of Technology in Genoa, and an Adjunct Professor at Arizona State Piaggio” University. His main research interests are in robotics, haptics, and control systems. He Pisa, Italy has published more than 400 papers. In collaboration with Pietro Pietrini and Emiliano [email protected] Ricciardi, University of Pisa, and Marco Santello, Arizona State University, he has set up a multidisciplinary group to capitalize on the interaction between neuroscience and robotics studying human perception and motor control. Authors

Aude G. Billard Chapter G.74

Swiss Federal Institute of Technology Aude Billard is Professor of Mechanical Engineering at the Swiss Federal (EPFL) Institute of Technology in Lausanne (EPFL), Switzerland. She holds School of Engineering a BSc/MSc in Physics from EPFL and a PhD from the University of Lausanne, Switzerland Edinburgh. A. Billard received the Intel Corporation Teaching Award, [email protected] the Swiss NSF Career Award in. Her research interests include robot learning, humanoid robotics, human–robot interactions and computational neuroscience.

John Billingsley Chapter F.56

University of Southern Queensland John Billingsley graduated in Mathematics and Electrical Engineering Faculty of Engineering and Surveying from Cambridge University in 1960, later gaining a PhD in control Toowoomba, Australia theory there. In 1992 he took up a Chair of Engineering at the University [email protected] of Southern Queensland and supervises Technology Research in the National Centre for Engineering in Agriculture (NCEA). In 2006 he received an achievement medal from the IET, London.

Rainer Bischoff Chapter F.54

KUKA Roboter GmbH Dr. Bischoff is Head of KUKA’s Technology Development Department responsible Technology Development for research and technology development projects preceding product development. Augsburg, Germany Dr. Bischoff received his Dr.-Ing. degree from Karlsruhe Institute of Technology. [email protected] He serves as Vice-President Industry of euRobotics AISBL – the European Robotics Association and helped to united European roboticists.

Thomas Bock Chapter F.57

Technical University Munich Prof. Dr.-Ing. T. Bock focuses on the automation and robotization in construction, Department of Architecture from planning through construction production and use phase to rebuilding and Munich, Germany restoration. In this area he has published almost 400 refereed publications in book [email protected] chapters, international journals and conferences. Since 1997 he holds the Chair for Building Realization and Robotics, Technical University Munich, Germany.

Adrian Bonchis Chapter F.59

CSIRO Adrian Bonchis has been working in the robotics space in mining, Department of Autonomous Systems manufacturing, and agriculture for over 25 years. He completed his Pullenvale, Australia PhD in Systems and Control at the University of Sydney in 2000. Since [email protected] commencing with CSIRO in 2005, his activities focused mainly on automating heavy mining equipment, delivering a number of innovative solutions to industry clients.

Josh Bongard Chapter G.76

University of Vermont Josh Bongard is an Associate Professor in Computer Science at the Department of Computer Science University of Vermont, USA. He currently serves as a vice chair of Burlington, USA the UVM Complex Systems Spire, and is the co-author of the popular [email protected] science book How the Body Shapes the Way We Think: A New View of Intelligence. His interests include evolutionary robotics, crowdsourcing and machine science. on–action loop. hnology since 1974. ounded and directs the eceived his Diploma in titute of Tec obotics and from UC Santa Barbara (BS) in Electrical Prof. Alberto Broggiand is the full President Professor ofSystems at Laboratory. VisLab, As the the a Universita‘ Artificialautomotive pioneer applications di Vision and in and Parma on the Intelligent driverless200 use cars, publications. of he He authored machine more served visionSystems than as for Society the as President IEEEResearch and Intelligent Council) is Transportation prestigious recipient of grants. two ERC (European Chapter F.62 Oliver Brock is the AlexanderSchool von of Humboldt Electrical Professor Engineering ofUniverisity and Robotics Berlin, Computer in Germany, Science the since at the 2009. Technical He r Computer Science inPhD 1993 in from Computer the Sciencerespectively. TU from Research Berlin Stanford of and University Brock’smanipulation, his in lab interactive Master’s 1994 perception, focuses and and grasping, on 2000, interactive learning, manipulation, autonomous and soft motion mobile generation. hands, Chapter D.40 Davide Brugali received the PhDTorino, Italy degree in in 1998. He Computer isItaly. Science currently Since from Associate Politecnico 2005 Professor di at heEngineering the is University for of Chair Robotics Bergamo, of andEngineering the Automation. for IEEE Robotics He RAS (JOSER) has Technical in founded 2009. Commettee the on Journal Software of Software Professor Heinrich BülthoffManaging is Director scientific of member thea Max of Planck group the Institute of Max forinteraction, Planck 70 Biological social Cybernetics. Society scientists and There, spatial and investigatesdeveloped cognition, self-motion object unique perception, motion and and simulators control.a face cybernetics They and recognition, approach to novel human–robot study virtual human cognition reality in technologies a closed for percepti and Computer Engineering. SheInteraction is with particular a focus pioneer on of personal Social robots. Robotics and Human Robot Wayne J. Book, HUSCO/Ramirez DistinguishedControl Professor (emeritus), of Fluid has Power taught and Motion at the Georgia Ins Cynthia Breazeal is AssociatePersonal Professor at Robots MIT, Group where at she(MS, the f PhD) Media in Lab ElectricalArtificial Engineering since Intelligence and 2001. and Computer She R Science holds with degrees specialization in from MIT A Fellow of ASME,the IEEE University and of SME, Texas hethe at holds 2013 Austin degrees Robert (BS) from E. in MIT Koskipower Mechanical and Medal (MS flexible by Engineering. and systems, ASME. PhD) He robotics, His and and was research haptic awarded human focuses interfaces. on dynamics of fluid Chapter A.12 Chapter A.11 Chapter G.78 Chapter G.72 Alberto Broggi University of Parma Department of Information Technology Parma, Italy [email protected] University of Bergamo Department of Computer ScienceMathematics and Dalmine, Italy [email protected] Georgia Institute of Technology G. W. Woodruff SchoolEngineering of Mechanical Atlanta, USA [email protected] Technical University Berlin Robotics and Biology Laboratory Berlin, Germany [email protected] Davide Brugali Oliver Brock Wayne J. Book

Max-Planck-Institute for Biological Cybernetics Human Perception, Cognition and Action Tübingen, Germany [email protected] MIT Media Lab Personal Robots Group Cambridge, USA [email protected] Heinrich Bülthoff Cynthia Breazeal Authors 2166 About the Authors About the Authors 2167

Joel W. Burdick Chapter D.37

California Institute of Technology Joel Burdick received the PhD degree in Mechanical Engineering from Department of Mechanical Engineering Stanford University. He has been with the Department of Mechanical Pasadena, USA Engineering at the California Institute of Technology since May 1988, [email protected] where he has been the recipient of the NSF Presidential Young Investigator Award, the Office of Naval Research Young Investigator Award, and the Feynman Fellowship. Professor Burdick’s current research interests are in sensor-based robot motion planning, multifingered robotic hand manipulation, and the application of robotics to neural prosthetics. Authors

Wolfram Burgard Chapter E.45

University of Freiburg Wolfram Burgard is a Professor for Computer Science at the University Institute of Computer Science of Freiburg and head of the Research Laboratory for Autonomous Freiburg, Germany Intelligent Systems. His research focuses on the development of [email protected] probabilistic approaches to mobile robot navigation. Over the past years he and his group have developed a series of innovative probabilistic techniques for various mobile robot navigation problems including localization, map building, path planning, and exploration.

Fabrizio Caccavale Chapter D.39

University of Basilicata Fabrizio Caccavale received the Laurea degree and the Research Doctorate degree in School of Engineering Electronic Engineering from the University of Naples Federico II in 1993 and 1997, Potenza, Italy respectively. He is currently Associate Professor at the School of Engineering of the [email protected] University of Basilicata. His research interests include manipulator inverse kinematics techniques, cooperative robot manipulation, fault diagnosis, and nonlinear control of mechanical systems. He has published over 100 journal and conference papers and is co-author of 3 books.

Sylvain Calinon Chapter G.74

Idiap Research Institute Dr. Sylvain Calinon is a Researcher at the Idiap Research Institute since May 2014 and Martigny, Switzerland a Visiting Researcher at the Learning Algorithms and Systems Lab (LASA), Ecole [email protected] Polytechnique Federale de Lausanne (EPFL). He holds a PhD from EPFL (2007) awarded by Robotdalen, ABB and EPFL-Press awards. His research interests cover robot learning and human-robot interaction.

Raja Chatila Chapter A.14 For biographical profile, please see the section “About the Part Editors”.

François Chaumette Chapter C.34

Inria/Irisa François Chaumette graduated from Ecole Nationale Supérieure de Lagadic Group Mécanique, Nantes, France, in 1987. He received the PhD degree in Rennes, France Computer Science from the University of Rennes I in 1990. He is an Inria [email protected] research scientist at Irisa in Rennes, where he heads the Lagadic Group. His research interests include robotics and computer vision. He is Fellow of the IEEE.

I-Ming Chen Chapter B.22

Nanyang Technological University I-Ming Chen (BS’86 National Taiwan University, MS’89 and PhD’94 School of Mechanical and Aerospace California Institute of Technology, USA) is Professor in Nanyang Engineering Technological University, Singapore. His research interests are in Singapore, Singapore wearable sensors, human-robot interaction, modular reconfigurable [email protected] automation, and parallel kinematics machines (PKM). He is Fellow of IEEE and Fellow of ASME, General Chairman of 2017 IEEE International Conference on Robotics and Automation in Singapore. ilitation/ titute of hnology, Pasadena, eceived the PhD degree lligent systems. titute of Tec underwater robotics, and mobile ition control, undergraduate degrees from Johns Hopkins University For biographical profile, please see sectionthe “About theEditors”. Part Hyun-Taek Choi received his BS,University, MS, Korea and in PhD 1991, degrees 1993, fromfor Korea Hanyang and Telecom 2000, and ASL, respectively. University Afterhe of working joined Hawaii, in Korea a Research postdoc(KRISO) Institute position, of in Ships 2003. andunderwater He Ocean robotic has Engineering applications been suchrecognition as leading using advanced optical several camera control and projects & sonar. navigation, related to Chapter B.25 Kyu-Jin Cho received BS and MS degreesSeoul, from Seoul Korea National University, in 1998MIT and in 2000, 2007. He respectively,Laboratory and was until a a 2008. post-doctoral PhD Heand fellow degree is Aerospace now at from Engineering an Harvard and Associateat Microrobotics the Professor Seoul Director of National of Mechanical University.inspired His Biorobotics robotics, research Laboratory soft interests robotics, includeassistive robotics. soft biologically wearable robots, and rehab Chapter B.23 Science and Technology School of Information Science. He r Howie Choset conducts researchmechanism in design path with planning,archeology, a and motion manufacturing. focus Choset’s group control, on develops multi-agent estimation, pathde-mining snake planners and and robots for coordinated for manufacturing. medicine,Major Choset at directs search Carnegie the and Undergraduate Mellon.Principles rescue, Robotics Choset of is Robot the Motion. co-founder of Medrobotics and co-author of in 1992. Since 1992,Engineering, he Johns has Hopkins beenon2001. University, the His where research faculty he interests of hasmechanics include the of been biological robotics, Department a macromolecules. applications of fulland In in of Mechanical professor 2008 2010 group since he he theory, became became and a a Fellow Fellow the of of the the IEEE. ASME, Nak-Young Chong is a Professor for Researchfrom at Hanyang the University, Seoul, Japanresearch Korea, Advanced in staff Ins 1994. at From Daewoointerests 1994 Heavy cover to networked Industries, 2003, robots Korea, he and and was cognitive and on AIST, inte Japan. the His research robotic systems. He has published more than 180 papers. He is a Fellow of the IEEE. in 1988 and the PhD degree from the California Ins Stefano Chiaverini is awhere Professor is of the Automatic Headresearch Control of at interests the the Electrical include University andcontrol, inverse of Information cooperative kinematics Cassino Engineering robots, Department. techniques, force/pos His redundant manipulator Gregory S. Chirikjian received Chapter B.20 Chapter D.44 Chapter A.10 Chapter B.20 Chapter A.5 Hyun-Taek Choi Korea Research Institute ofEngineering (KRISO) Ships & Ocean Ocean System Engineering Research Division Daejeon, Korea [email protected] Japan Advanced Institute ofTechnology Science and Center for Intelligent Robotics Ishikawa, Japan [email protected] University of Cassino andDepartment Southern of Lazio Electrical andEngineering Information Cassino, Italy [email protected] Seoul National University Biorobotics Laboratory Seoul, Korea [email protected] Nak-Young Chong Kyu-Jin Cho Stefano Chiaverini

Carnegie Mellon University Robotics Institute Pittsburgh, USA [email protected] John Hopkins University Department of Mechanical Engineering Baltimore, USA [email protected] Henrik I. Christensen Howie Choset Gregory S. Chirikjian Authors 2168 About the Authors About the Authors 2169

Wendell H. Chun Chapter F.61

University of Denver Wendell Chun managed the Robotics Group at Lockheed Martin in Department of Electrical and Computer Denver for the last twenty-five years. In addition to working in industry, Engineering he has been an Adjunct Faculty teaching robotics at the Colorado School Denver, USA of Mines since 1999 and the University of Denver since 2003. He [email protected] holds over ten patents and was featured on the History Channel Modern Marvel’s episode on Remotely Operated Vehicles. Authors

Wan Kyun Chung Chapter A.8

POSTECH Wankyun Chung received his BS degree from Seoul National University Robotics Laboratory in 1981, his MS degree in 1983, and his PhD from KAIST in 1987. He Pohang, Korea is a Professor in the School of Mechanical Engineering, POSTECH and [email protected] Director of the National Research Laboratory. He has written two books and published more than 100 journal papers. His research interests include medical robot and biomechatronics.

Woojin Chung Chapter B.24

Korea University Woojin Chung received the BS degree from the Seoul National University and MS Department of Mechanical Engineering and PhD degrees from the University of Tokyo. He is a Professor in the Department of Seoul, Korea Mechanical Engineering, Korea University. His research interests include autonomous [email protected] navigation of mobile robots. He received the King-Sun Fu Memorial Best Transactions Paper Award from the IEEE RAS in 2002.

Peter Corke Chapter C.34

Queensland University of Technology Peter Corke is a Professor of Robotics and Control at Queensland Institute of Department of Electrical Engineering and Technology, and Director of the ARC Centre of Excellence for Robotic Vision. His Computer Science research is concerned with enabling robots to see, and the application of robots to Brisbane, Australia mining, agriculture and environmental monitoring. He received his undergraduate [email protected] degree in Electrical Engineering and PhD from the University of Melbourne.

Elizabeth Croft Chapter G.69

University of British Columbia Elizabeth Croft (Honours BASc Mechanical Engineering UBC 1988, Department of Mechanical Engineering MASc Waterloo 1992, PhD Toronto 1995) PEng is Full Professor of Vancouver, Canada Mechanical Engineering, Associate Dean of the Faculty of Applied [email protected] Science, and Director of the CARIS Lab at the University of British Columbia. Her research spans human–robot interaction, industrial automation, controls, and mechatronics. She is a Fellow of the ASME and Engineers Canada.

Mark R. Cutkosky Chapter C.28

Stanford University Mark Cutkosky received the PhD in Robotics from Carnegie Mellon Department of Mechanical Engineering University in 1985. He became an Assistant Professor at Stanford Stanford, USA University in 1985, an Associate Professor in 1991 and Professor [email protected] in 1996. His research involves bio-inspired robots, mechanisms and sensors.

Kostas Daniilidis Chapter C.32

University of Pennsylvania Kostas Daniilidis is Associate Professor of Computer and Information Science at the Department of Computer and Information University of Pennsylvania, where he is a member of the interdisciplinary GRAS Science Plaboratory. He obtained the BSE and MSE degrees in Electrical Engineering from Philadelphia, USA the National Technical University of Athens (1986) and his Dr. rer.nat. in Computer [email protected] Science from the University of Karlsruhe (1992). His research interests are in space and motion perception with machines with applications to navigation, panoramic vision, and immersive environments. 1987 as hool obotics itions. obotics for onomous and 1980. Since 2003. He of Interaction Studies, lti-sensor fusion and estimation eceived the Helmholtz-Humboldt Research eceived his PhD from Nagoya University in Gregory Dudek isComputer a Science Professor and in aIntelligent the Machines member (CIM). McGill He of was University theHe named School McGill a directs William Research of the Dawson Scholar. McGill Centreinterests Mobile for include Robotics perception Laboratory, where forcomputational mobile his vision, research robotics, and vision-based collaborative robotics, filtering. Alessandro De Luca received hisand PhD is in Professor Systems of Engineering Robotics in He at published Sapienza over University 180 of Romerobotic articles since on systems, 2000. modelling in and particularChair control of of flexible different ICRA manipulators. 2007. HeAward in He was 2005 r General and is an IEEE Fellow (class of 2007). Chapter C.29 Chapter A.11 Lixin Dongr Kerstin Dautenhahn is Professor ofof Artificial Computer Intelligence in Science thehas Sc at pioneered the research Universityassistive in technology of social and Hertfordshire, published robotics,Dautenhahn U.K. more human-robot is than She 300 Editor interaction, research inwell articles. Chief as Prof. Associate of Editor the of Journal several other international journals. became Research Associate, Lecturer, andUniversity Associate of Professor at Technology Xi’an inAssistant 1992, Professor 1995, at andSwiss Nagoya Federal 1998, University Institute of respectively, inhnology Tec and He 2003. (ETH) is Zurich In now in 2004 Assistant severalresearch he Professor pos is at joined on Michigan nanorobotics. State University, where his Chapter B.27 Chapter G.72 Rüdiger Dillmann received his PhD from University of Karlsruhe in and Automation Society in 2002–2003. Joris De Schutter received his PhD degreein in Mechanical 1986. Engineering from His KU Leuven researchhuman interests motion include modeling, sensor-based human-robot robotfor interaction, control model mu and building programming, andmechatronic drive real-time systems. control, He and is co-author optimization of of two mechanical volumes in and the STAR book series. 1987 he hasbecame been Director Professor of the of Researchinterest Center the is for in Department Information humanoid robotics Science of with (FZI). special Computer His emphasis research on Science, intelligent, aut where he Paolo Dario obtainedUniversity the of Dott. Pisa Eng. inand degree Director 1977. in of He The Mechanical BioRobotics issurgery, rehabilitation Institute. Engineering and Professor His assisted from research living. of He interests the served involve Biomedical as r President Robotics of the and IEEE R Founder interactive robot behaviour baseddemonstration. on He machine is learning EiC methods of and the programming Springer by book series COSMOS. Chapter F.63 Chapter A.9 Chapter G.74 Gregory Dudek Alessandro De Luca McGill University Department of Computer Science Montreal, Canada [email protected] Sapienza University of Rome Department of Computer, Control,Management and Engineering Rome, Italy [email protected] University of Leuven (KU Leuven) Department of Mechanical Engineering Leuven-Heverlee, Belgium [email protected] Michigan State University Department of Electrical andEngineering Computer East Lansing, USA [email protected] University of Hertfordshire School of Computer Science Hatfield, UK [email protected] Lixin Dong Joris De Schutter Kerstin Dautenhahn

Sant’Anna School of AdvancedThe Studies BioRobotics Institute Pisa, Italy [email protected] Karlsruhe Institute of Technology Institute for Technical Informatics Karlsruhe, Germany [email protected] Rüdiger Dillmann Paolo Dario Authors 2170 About the Authors About the Authors 2171

Hugh Durrant-Whyte Chapter C.35

University of Sydney Hugh Durrant-Whyte received the MSE and PhD degrees, both in Systems Engineer- Australian Centre for Field Robotics (ACFR) ing, from the University of Pennsylvania, USA, in 1985 and 1986, respectively. Since Sydney, Australia 1995 he has been a Professor at the University of Sydney, where he leads the Aus- [email protected] tralian Centre for Field Robotics (ACFR). His research work focuses on autonomous vehicle navigation and decentralized data fusion methods with applications including automation in cargo handling, mining, defence, and marine systems. Authors

Roy Featherstone Chapter A.3

The Australian National University Dr. Featherstone received the PhD degree from Edinburgh University in 1984. He Department of Information Engineering is the inventor of the articulated-body algorithm, and the author of two books on Canberra, Australia rigid-body dynamics. He has 7 years experience in industry and was awarded an [email protected] EPSRC Advanced Research Fellowship in 1992, which was held at Oxford University. He currently workson robot dynamics, control, simulation, and actuator technology.

Gabor Fichtinger Chapter F.63

Queen’s University Gabor Fichtinger received the doctorate degree in Computer Science from School of Computing the Budapest Technical University, Hungary, in 1990. He is a Professor in Kingston, Canada Computer Science and Cancer Care Ontario Research Chair at Queen’s [email protected] University, Canada. He is the Director of the Laboratory for Percutaneous Surgery, specializing in computer-assisted interventions and medical robotics, primarily for the diagnosis and therapy of cancer.

Paolo Fiorini Chapter F.63

University of Verona Paolo Fiorini received the Laurea degree in Electronic Engineering Department of Computer Science from the University of Padova, Italy, the MSEE from the University Verona, Italy of California at Irvine, and the PhD in ME from UCLA. From 1985 [email protected] to 2000, he was with NASA Jet Propulsion Laboratory. In 2001 he joined the Department of Computer Science of the University of Verona as a full Professor. His research focuses on teleoperation and surgical robotics. He is an IEEE Fellow (2009).

Paul Fitzpatrick Chapter G.67

Italian Institute of Technology Paul Fitzpatrick received the PhD degree in Computer Science from MIT, on Robotics, Brain, and Cognitive Sciences developmental approaches to machine perception. He worked at MIT as a postdoctoral Department lecturer, then held a postdoctoral position at LIRA-Lab at the University of Genoa, Genoa, Italy Italy. He is now working at the Italian Institute of Technology. His primary interest is [email protected] the development of machine perception for object manipulation.

Luke Fletcher Chapter F.66

Boeing Research & Technology Australia Luke Fletcher is at Boeing Research and Technology – Australia working on Brisbane, Australia perception driven robotics for future aircraft assembly. Previously, from 2007, Luke [email protected] was a research scientist at CSAIL, MIT. He completed a PhD at the Australian National University (ANU) in 2006 on driver gaze and road scene computer vision. In 1996, Luke graduated from the University of Melbourne with BEHons(Elec) and BSc(Comp) degrees.

Dario Floreano Chapter G.76

Swiss Federal Institute of Technology Dario Floreano is Professor of Intelligent Systems at EPFL and Director (EPFL) of the Swiss National Center of Competence in Robotics. He is interested Laboratory of Intelligent Systems in the convergence of artificial intelligence, robotics, and biology. He Lausanne, Switzerland is co-founder of the International Society of Artificial Life Inc. and of [email protected] the drone company senseFly Ltd. His activity has resulted in more than three hundred articles, four books, several patents, and three spin off companies. ition at lity. He was 2010. In 2011, he obotics and Control itiative. He serves as Editor-in-Chief eceived his PhD degree on Stereo Vision 1987) from University of California at Berkeley, oduction scheduling, and virtual rea Martin A. Giese foundedLearning the at Laboratory the for University Action Clinic Representation Tübingen and in 2001. After a pos Thor I. Fossen received thedegree MSc in degree Engineering in Cybernetics Naval from Architectureinclude NTNU. and His guidance, PhD research navigation activities andvehicles. control He of marine is craft oneCybernetics. and He of unmanned is the the founders recipient of2002 of the and the Automatica the Prize DNV-GL 2008 Paper company Award Arch in Marine T. Colwell Merit Award. Honda, Boston, and as Seniorhe Lecturer at accepted the a University position of asin Bangor (UK), Professor the for Hertie Computational Institute Sensomotorics Clinic for Clinical Tübingen, Brain Germany Research inof and learning 2008. the in His University action research recognitiontechnical and applications. focuses control on in biological the systems, role and Chapter E.51 Chapter G.78 joined the ChairUniversity for Munich, Building Germany. His Realization research interests andreal-time are systems Robotics, mainly design, robotics, Technical embedded systems,systems, intelligent and machine image vision processing. Dr. Ing. Christos Georgoulasfrom r Democritus University of Thrace, Greece, in Chapter F.57 Ken Goldberg is ProfessorBerkeley, of with Industrial joint appointments Engineering in andthe Electrical Operations School Engineering of Research and Information. Computer at Goldberg ScienceDirector UC was and of named the IEEE UC Fellow CITRIS in People 2005 and and is Robots Founding In awarded Lifetime Distinguished ProfessorshipIEEE from Fellow (2004). his university in 2007. He is an of the IEEE TransactionsChair on of Automation the Science IEEEAdvisory and Transactions Board. on Engineering. He Automation He is Sciencethe is Co-Founder and African Founding of Engineering Robotics the (T-ASE) Berkeley Networkfor Center Medical (AFRON), Robotics for the (CAL-MR), New Center the MediaHybrid CITRIS for Wisdom (BCNM), Data Labs, Automation and and and Moxie Democracy Initiative Institute. Learning (DDI), and then joined theUniversity. His Department research of interests Electricaland include tracking, Engineering robotics, intelligent smart of vehicle, pr home, the visual National detection Taiwan Maxime Gautier received the Doctorat d’Etat degree in R Li-Chen Fu received the PhD degree ( Engineering from the Universitya of Professor Nantes, of France, Automatic inRobotics Control 1990. Team, Institut Since at de the 1991, Recherche he University(IRCCyN, en has of UMR-CNRS Communication been Nantes. et n6597). Cybernétique He His deand is research Nantes control a topics of member include robots. of modeling, the identification, Chapter A.8 Chapter D.44 Chapter A.6 Martin A. Giese Thor I. Fossen Norwegian University of ScienceTechnology and Department of Engineering Cyberentics Trondheim, Norway [email protected] University Clinic Tübingen Department for Cognitive Neurology Tübingen, Germany [email protected] National Taiwan University Department of Electrical Engineering Taipei, Taiwan [email protected] University of CaliforniaDepartment at of Berkeley Industrial EngineeringOperations and Research Berkeley, USA [email protected] Technical University Munich Department of Architecture Munich, Germany [email protected] Ken Goldberg Christos Georgoulas Li-Chen Fu

University of Nantes IRCCyN, ECN Nantes, France [email protected] Maxime Gautier Authors 2172 About the Authors About the Authors 2173

Clément Gosselin Chapter B.18

Laval University Clément Gosselin received the PhD degree and the D.W. Ambridge Award from Department of Mechanical Engineering McGill University, Montreal, Quebec, Canada in 1988. Since 1997 he has been a Full Quebec, Canada Professor in the Department of Mechanical Engineering at University Laval, Quebec [email protected] and a Canada Research Chair in Robotics and Mechatronics since January 2001. His research interests are kinematics, dynamics, and control of robotic mechanical systems with a particular emphasis on parallel mechanisms and robot hands. Dr. Gosselin is a Fellow of the ASME. Authors

Eugenio Guglielmelli Chapter F.64

University Campus Bio-Medico of Rome Eugenio Guglielmelli is the Director of the Research Unit of Biomedical Faculty Department of Engineering Robotics and Biomicrosystems at Campus Bio-Medico University of Rome, Italy Rome, Italy. Previously, he was (1991–2004) with the ARTS Lab of the [email protected] Scuola Superiore Sant’Anna, Pisa, Italy. His current research interests are in human-centered robotics, neurorobotics, biomechatronic design and bio-inspired control of robotic systems, and in their application to rehabilitation and personal assistance.

Sami Haddadin Chapter G.69

Leibniz University Hannover Sami Haddadin is full Professor and Director of IRT at the Leibniz Electrical Engineering and Computer University Hannover, Germany. His research topics include pHRI, robot Science control and learning, human motor control, and safe robotics. He is Hannover, Germany associate editor of TRO and published more than 100 scientific articles. [email protected] He received several best paper and video awards, the George Giralt Award, and TRO best paper twice.

Martin Hägele Chapter F.54

Fraunhofer IPA Martin Hägele studied Mechanical Engineering and Engineering Science at the Robot Systems University of Stuttgart and the George Washington University. Since 1989 he is with Stuttgart, Germany Fraunhofer IPA and was promoted to Head of the Department Robot Systems in 1993. [email protected] He received the Award of the German Association of Machine Tools Manufacturers (VDW) in 1990, the Fraunhofer IPA Innovation Award in 1995, the European Innovation and Emerging Technology Award in 1998, and the Engelberger Robotics Award in 2007.

Gregory D. Hager Chapter A.5

Johns Hopkins University Gregory D. Hager is a Professor of Computer Science at Johns Hopkins University. Department of Computer Science Prof. Hager received the MS and PhD degrees in computer science from the University Baltimore, USA of Pennsylvania in 1985 and 1988, respectively. His current research interests [email protected] include visual tracking, vision-based control, medical robotics, and human–computer interaction. He is a Fellow of the IEEE for his contributions in vision-based robotics.

William R. Hamel Chapter F.58

University of Tennessee William R. Hamel is a Professor of the Mechanical, Aerospace, and Mechanical, Aerospace, and Biomedical Biomedical Engineering Department at the University of Tennessee. He Engineering worked for 31 years at the Oak Ridge National Laboratory in robotics Knoxville, USA and remote systems for nuclear, military, and space applications. He is an [email protected] IEEE Fellow and an ASME Fellow with ongoing research in telerobotics for hazardous environments. lligent Systems ognizing 3-D shapes ndustrial Science and Technology Dr. Eldert van HentenHead is a of Professor the of FarmNetherlands. Biosystems Technology His Engineering Group research and at interestsand Wageningen include control University, sensing, The of modeling, biosystems,company design, logistics. biorobotics, His robotics and activities focus high-tech onfarming, automation livestock applications farming, to and and arable protected cultivation. Blake Hannaford, PhD, isProfessor Professor of of Bioengineering, Electrical Engineering, Mechanicalthe Adjunct Engineering, University of and Washington, Surgery Seattle.Science at He Foundation’s was Presidential awarded Young the InvestigatorCareer Award, National Achievement the Award from Early theand IEEE Biology Engineering Society, in and Medicine interests was include named haptic IEEE displays Fellow on in the 2005. Internet His and active surgical robotics. Chapter F.56 Chapter D.42 Professor Thomas Henderson receivedfrom the Louisiana BS State degree University in inScience Mathematics 1973 from and The the PhDhe University degree has of in been Texas Computer at ProfessorHis Austin of current Computer in research 1979. Sciencethe interests at Since simulation concentrate of the 1989 accidental on University firesChallenge, of smart and and Utah. explosions, sensor on on technical networks, the drawing DARPA Urban analysis. Chapter C.35 Hugh Herr is Associateand Professor within The MIT’s Harvard-MIT Program Divisionresearch of Media of objective Arts is Health and to Scienceslimbs. Sciences, apply He and has principles Technology. employed of cross Hispowered bridge neuromechanics primary mechanisms models to of that skeletal the muscle amplifyleg design to exoskeletons. endurance of the Herr design and bionic is human- builtpatents the within elastic (co-)author biomechatronics. shoes of and over 150 powered peer-reviewed manuscripts and Joachim Hertzberg holds diplomaProfessor and for doctorate Informatics/Knowledge-Based Systems degrees atalso in Osnabrück with University. Informatics. DFKI’s He Robotics He Innovation is Center, heading isHis its a Branch areas Office Full of in Osnabrück. researchand are applications AI, thereof. plan-based robot control, semantic mapping in robotics, Dr. Martial Hebert is Professor of Roboticsof at Carnegie the Mellon Robotics University and Institute. Director Hisand interests perception include computer for vision, mobilerecognition 3-D in robots. model images building His and group video sequences, has techniques developed for approaches rec for object Dr. Kensuke Harada is aResearch Leader Institute, National of Institute Manipulation of Research Advanced I Group, Inte in 3-D point cloudsenvironment of and autonomous for robots building from models sensor data. of 3-D objects, and for modeling the (AIST). He received PhD degreein in 1997. Mechanical His Engineering from mainsuch Kyoto area as University of robot research manipulator, includes biped humanoid planning robot, and and control multi-fingered of hand. robotic systems Chapter G.70 Chapter E.45 Chapter G.67 Chapter A.14 Eldert van Henten Blake Hannaford Wageningen University Wageningen UR Greenhouse Horticulture Wageningen, The Netherlands [email protected] University of Washington Department of Electrical Engineering Seattle, USA [email protected] MIT Media Lab Cambridge, USA [email protected] National Institute of AdvancedScience Industrial and Technology Intelligent Systems ResearchTsukuba, Japan Institute [email protected] University of Utah School of Computing Salt Lake City, USA [email protected] Hugh Herr Thomas C. Henderson Kensuke Harada

Carnegie Mellon University The Robotics Institute Pittsburgh, USA [email protected] Osnabrück University Institute for Computer Science Osnabrück, Germany [email protected] Joachim Hertzberg Martial Hebert Authors 2174 About the Authors About the Authors 2175

Gerd Hirzinger Chapter F.55

German Aerospace Center (DLR) Gerd Hirzinger received his doctor’s degree from the Technical University Institute of Robotics and Mechatronics of Munich in 1974. From 1992 to 2012 he was Director at the DLR Wessling, Germany Institute for Robotics and Mechatronics. The institute develops innovative [email protected] robot systems for space and terrestrial applications, telerobotic concepts, man–machine interfaces, sensors and actuators, sensory feedback, ultra- lightweight robot arms, articulated hands, planetary rovers, and medical technology. He was prime investigator of ROTEX, the first remotely controlled robot in space, which flew onboard shuttle COLUMBIA in Authors April 93. He has received numerous national and international awards.

John Hollerbach Chapter A.6

University of Utah John M. Hollerbach is Professor of Computing, Research Professor School of Computing of Mechanical Engineering, and Director of the Robotics Track at the Salt Lake City, USA University of Utah. Previously he held faculty positions at MIT and [email protected] McGill University. He received his PhD from Massachusetts Institute of Technology in 1978. He is Editor of the International Journal of Robotics Research. His research interests include haptic interfaces and virtualreality.

Kaijen Hsiao Chapter D.41

Robert Bosch LLC Kaijen Hsiao received her MS and PhD degrees in Computer Science from MIT. Research and Technology Center, Palo Alto She spent four years as a Research Scientist working on grasping, manipulation, and Palo Alto, USA shared-autonomous teleoperation at Willow Garage, and is now at Bosch Research [email protected] and Technology Center in Palo Alto, where she works on personal robots.

Tian Huang Chapter B.18

Tianjin University Tian Huang received his BE, ME and PhD from Tianjin University, China in 1981, Department of Mechanical Engineering 1984 and 1990 all in Mechanical Engineering. Dr Huang is an expert in the field of Tianjin, China robotics. His research interests cover kinematics, dynamics and control of parallel [email protected] robots. He has published more than 200 papers. He has been selected as Yangtze Chair Professor in 2000 by the State Education Ministry of China.

Christoph Hürzeler Chapter B.26

Alstom Power Thermal Services Christoph Hürzeler received his Master of Science in Mechanical Automation and Robotics R&D Engineering from the ETH Zurich in 2007. From 2008 to 2013 he joined Baden, Switzerland the Autonomous Systems Lab under Prof. Roland Siegwart as a PhD [email protected] student in the field of aerial robotics. Currently, he works at Alstom Switzerland as project leader and R&D engineer developing inspection robots for Alstom’s Thermal Services Division.

Phil Husbands Chapter G.76

University of Sussex Phil Husbands is Professor of Computer Science and Artificial In- Department of Informatics telligence in the Department of Informatics and Co-director of the Brighton, UK Centre for Computational Neuroscience and Robotics at the University [email protected] of Sussex. His research interests include biologically inspired adap- tive robotics, evolutionary systems, computational neuroscience, and creative systems.

Seth Hutchinson Chapter C.34

University of Illinois After receiving his PhD degree from Purdue University, Seth Hutchinson joined the Department of Electrical and Computer University of Illinois in Urbana-Champaign, where he is currently a Professor in the Engineering Department of Electrical and Computer Engineering. He has published more than 200 Urbana-Champaign, USA papers in the area of sensor-based robotics, and is co-author of the books Principles [email protected] of Robot Motion: Theory, Algorithms, and Implementations and Robot Modeling and Control. onomous robots, Mobile Robots obotics. hnology. Since focuses on mobility lligent r he JAXA. His research hnology at Lausanne, and a PhD in Artificial obotics and Communication Laboratories, Kyoto, hnology, Tokyo, Japan, in 1996. In 1985, he joined jita received the Dr. degree in Control Engineering from the (Springer, 2004) and has published nearly 150 research papers on Takayuki Kanda is a Groupin Leader ATR Intelligent of R Human-RobotJapan. Interaction He Group received hisScience BEng, from MEng, Kyoto and University, PhD Kyoto,respectively. degrees Japan, His in in research 1998, Computer focussses 2000,robotics, on and human-robot robots 2003, in interaction, real social daily context, and inte Auke Ijspeert has aFederal Institute BSc/MSc of in Tec PhysicsIntelligence from from the the University of EPFL,sociate Edinburgh. the Professor He Swiss at is the currentlyHis EPFL, an research and As- interests Head are of attional the the intersection neuroscience, Biorobotics between nonlinear Laboratory. robotics, computa- dynamicallearning. systems, and applied machine Chapter G.72 Chapter G.75 oup. His interests include design, motion planning, and control of mobile Shuuji Ka Tokyo Institute of Tec the Mechanical Engineering Laboratory, NationalIndustrial Institute of Science Advanced and Technologya (AIST). Visiting Researcher During at 1996–1997, the he California was Institute of Tec Fumiya Iida received his masterTokyo degrees University in Mechanical of Engineering Science from (1999),the University and Dr. of sc. Zurichthe nat. (2006). University in He of Informatics is Cambridge, from currentlyHis and a research an University interest Assistant Lecturer includes Professorautonomous at dynamic at robots, ETH legged human-machine Zurich. locomotion, interactions,soft navigation and robots. of self-reconfigurable 2007, he hasIntelligent been Systems Research the Institute, AIST, Leader Japan. of the Humanoid Robotics Group of Chapter G.75 Chapter B.17 he is the co-authorworked on with a G. number Dudek ofSystems of large and robotics Computational is projects Principles also includingenvironment. one of the of Mobile. ARK the and He AQUA designers has Robotic of IVY – a six-sided immersive projective Genya Ishigami is an AssistantPhD Professor degree at from Keio Tohoku University, University,at Japan. Japan the He in MIT received 2008 and the and aanalysis, vehicle–terrain was Research interaction mechanics, a Associate perception, Postdoctoral navigation at and t Associateapplication control, for to planetary exploration rovers and field robots. Michael Jenkin is a Professor ofCanada. Working Computer in Science the and areas Engineering of virtual at reality York University, and visually guided aut Karl Iagnemma is a PrincipalMobility Gr Research Scientist atrobots MIT, where in he challenging directs environments.in the Rough Dr. Robotic Iagnemma Terrain isrobotic the topics. author of Chapter C.29 Chapter E.50 Chapter B.24 Takayuki Kanda Auke Jan Ijspeert Advanced Telecommunications Research (ATR) Institute International Intelligent Robotics andLaboratories Communication Kyoto, Japan [email protected] Swiss Federal Institute of Technology (EPFL) School of Engineering Lausanne, Switzerland [email protected] Keio University Department of Mechanical Engineering Yokohama, Japan [email protected] University of Cambridge Department of Engineering Cambridge, UK [email protected] National Institute of Advanced Industrial Science and TechnologyIntelligent (AIST) Systems ResearchTsukuba, Japan Institute [email protected] Shuuji Kajita Genya Ishigami Fumiya Iida

York University Department of Electrical Engineering and Computer Science Toronto, Canada [email protected] Massachusetts Institute of Technology Laboratory for Manufacturing and Productivity Cambridge, USA [email protected] Michael Jenkin Karl Iagnemma Authors 2176 About the Authors About the Authors 2177

Makoto Kaneko Chapter B.19 For biographical profile, please see the section “About the Part Editors”.

Sung-Chul Kang Chapter F.58

Korea Institute of Science and Technology Sung-Chul Kang is a Principal Research Scientist in the Center for Bionics of the Center for Bionics Korea Institute of Science and Technology (KIST). His research interests are in Seoul, Korea mechanism design and control for dependable mobility and manipulation. He has Authors [email protected] been applying these mobility and manipulation technologies to service robotics area like medical and field robots. He has a PhD in Mechanical Design and Production Engineering from Seoul National University, Seoul, Korea.

Imin Kao Chapter D.37

Stony Brook University Being the Director of the Manufacturing Automation Laboratory (MAL) at SUNY Department of Mechanical Engineering Stony Brook, Professor Kao conducts research in robotics and manufacturing, Stony Brook, USA specialized in the modeling of contact interface. He integrates his study with MEMS [email protected] transducers to study intelligent contact interface that augments the capability of robots and humans. The soft-contact theory he proposed, which correlates the growth of contact radius with normal force, subsumes the well-known Hertzian model.

Lydia E. Kavraki Chapter A.7

Rice University Lydia E. Kavraki is the Noah Harding Professor of Computer Science Department of Computer Science and Bioengineering at Rice University. She earned the PhD degree in Houston, USA Computer Science from Stanford University. Kavraki’s research is in [email protected] physical algorithms and their applications in robotics and structural bioinformatics. She is a Fellow of IEEE, ACM, AAAS, and AIMBE.She is also an elected member of the Institute of Medicine (IOM) of the National Academies of United States.

Charles C. Kemp Chapter G.67

Georgia Institute of Technology and Charles C. Kemp is an Assistant Professor in the Department of Emory University Biomedical Engineering at Georgia Tech and Emory University. Atlanta, USA He is Director of the Center for Healthcare Robotics in the Health [email protected] Systems Institute. He received a Doctorate in Electrical Engineering and Computer Science from MIT in 2005. His research focuses on autonomous robot manipulation and human–robot interaction for healthcare.

Wisama Khalil Chapter A.6

University of Nantes Wisama Khalil received the PhD and the Doctorat d’Etat degrees in Robotics and IRCCyN, ECN Control Engineering from Montpellier, France, in 1976 and 1978, respectively. Since Nantes, France 1983 he has been Professor of Robotics in the Ecole Centrale de Nantes. He carries [email protected] out his research within the Robotics team of the IRCCyN (Institut de recherche en Communication et Cybernétique de Nantes-UMR-CNRS n6597). His research interest includes, kinematics, dynamics, calibration, identification, and control of robots.

Oussama Khatib Chapter 1 For biographical profile, please see the section “About the Editors”.

Lindsay Kleeman Chapter C.30

Monash University Lindsay Kleeman received the bachelor degrees in Electrical Engineering and Department of Electrical and Computer Mathematics both with university medals, and, in 1986, the PhD degree from the Systems Engineering University of Newcastle. He is currently an Associate Professor at Monash University, Melbourne, Australia Australia with over 100 publications including a best paper award at IROS99. His [email protected] research interests include mobile robotics, ultrasonic sensing, and digital systems. obots eceived 1984. His Learning ittee and has received the hnology, in 1978, obot interaction, and titute Europe in Offenbach both in obot Experiments ppointed Assistant Professor at TU Delft. hnology and as an Associate Professor at Nagoya For biographical details see “About the Multimedia Editors” Danica Kragic received thenology, PhD Stockholm, from in KTH 2001. Royalof She Institute Computer is of currently Tech- Science a andof Professor Communication the at Royal at the Swedish KTH.of School Academy She Sweden. of is Her Sciences a researchmachine and interests member learning. the are Young robotics, Academy computer vision and Jens Kober has recently been a Before joining TU Delft heBielefeld has and affiliated to the the Honda CoR-Lab ResearchGermany. of Jens Ins has Universität graduated infrom Spring 2012 Technische with Universität Doctor Darmstadt. ofMotor Engineering His Skills – PhD From Algorithms thesis to2013 on R Georges Giralt PhDEurope in Award 2012. as the best Robotics PhD thesis in Chapter A.15 Chapter C.32 University, he has been a Professor at Tohoku University since 1995. Professor Kazuhiro Kosuge received theControl Engineering BE, from ME, the and1980, Tokyo PhD Institute and degrees of 1988, in Tec respectively.Tokyo Institute After of serving Tec as a Research Associate at Alexander Kleiner is anthe Associate Linköping Professor University. of HeFreiburg Computer and earned Science worked at his as PhD postdocUniversity. at He from the is the Carnegie member UniversitySSRR Mellon TC. of of and His La research the focuses Sapienza moving on RoboCup collaborative targets search executive in for comm the stationary and real world. Chapter F.65 Chapter F.60 David Kortenkamp is aJohnson Space Senior Center’s Scientist Automation,the with Robotics, BS TRACLabs, and degree Simulation Inc. in Division.and supporting He Computer PhD NASA r degrees Science in from Computerat Science the from NASA University the focuses University on of of intelligent Minnesota Michigan. control His and architectures, research human–r the MS Kurt Konolige is aHe Senior has Staff been RoboticistUniversity a at and Consulting Google, one Professor Inc. ofand in and the MobileRobotics LLC. a Computer cofounders He Fellow Science received of his of and Industrial PhD AAAI. from AI Perception, Stanford University Inc., at in Videre Stanford Design, autonomous execution systems. recent research has concentrated on real-time perception and action for mobile r and manipulators, and machine learning for robotics. Chapter C.31 Chapter A.12 Chapter A.8 Danica Kragic Jens Kober Delft University Technology of Delft Center forDelft, Systems The and Netherlands Control [email protected] Royal Institute of TechnologyCentre (KTH) for Autonomous Systems Stockholm, Sweden [email protected] Google, Inc. Mountain View, USA [email protected] Tohoku University System Robotics Laboratory Sendai, Japan [email protected] Linköping University Department of Computer Science Linköping, Sweden [email protected] Kazuhiro Kosuge Kurt Konolige Alexander Kleiner

TRACLabs Inc Houston, USA [email protected] Torsten Kröger David Kortenkamp Authors 2178 About the Authors About the Authors 2179

Roman Kuc Chapter C.30

Yale University Dr. Kuc is Director of Educational Affairs in Enginineering and Director of the Department of Electrical Engineering Intelligent Sensors Laboratory at Yale University. He received the BSEE degree New Haven, USA from the Illinois Institute of Technology, Chicago, in 1968, and the PhD degree in [email protected] Electrical Engineering from Columbia University, New York, in 1977. His interests cover digital signal processing with applications to bioengineering, robotics and telecommunications, inverse problems, intelligent sensors, modeling biological systems, as well as embedded systems. Authors

James Kuffner Chapter D.36

Carnegie Mellon University James Kuffner received the PhD degree in Computer Science from Stanford University The Robotics Institute in 1999. He was a Japan Society for the Promotion of Science Postdoctoral Research Pittsburgh, USA Fellow at the University of Tokyo until 2001. He joined the faculty at Carnegie Mellon [email protected] University in 2002 and is currently an Assistant Professor. He has published over 100 technical papers and received the Okawa Foundation Award for Young Researchers in 2007.

Scott Kuindersma Chapter E.48

Harvard University Scott Kuindersma is an Assistant Professor of Engineering and Computer Cambridge, USA Science at Harvard University. Prior to that he was a postdoc at MIT [email protected] CSAIL and the Planning and Control Lead for MIT’s DARPA Robotics Challenge team. He received his PhD in Computer Science from the University of Massachusetts Amherst in 2012. His research interests broadly encompass legged robotics, optimization, control, nonlinear systems, and machine learning.

Vijay Kumar Chapter E.52

University of Pennsylvania Vijay Kumar is the UPS Foundation Professor at the School of Engineer- Department of Mechanical Engineering ing and Applied Science at the University of Pennsylvania. He received and Applied Mechanics his PhD from the Ohio State University. He has won many awards Philadelphia, USA including the NSF Presidential Young Investigator Award (1991), and [email protected] recently a 2014 Engelberger Robotics Award. He was elected to the National Academy of Engineering in 2013.

Steven M. LaValle Chapter A.7

University of Illinois Steve LaValle is an Associate Professor of Computer Science at the University of Department of Computer Science Illinois. His interests include motion planning, geometric algorithms, control theory, Urbana, USA and sensing. He recently authored the book (free online) Planning Algorithms. [email protected]

Florant Lamiraux Chapter E.47

LAAS-CNRS Florent Lamiraux graduated from the Ecole Polytechnique Paris in 1993. He received Toulouse, France the PhD in Computer Science from the Institut National Polytechnique de Toulouse [email protected] in 1997 for his research on mobile robots and spent two years at Rice University as a Research Associate. He is currently Chargé de Recherche at LAAS-CNRS and has worked for ten years on nonholonomic mobile robots. He is now working in humanoid robots.

Roberto Lampariello Chapter F.55

German Aerospace Center (DLR) Roberto Lampariello received his BSe in Aerospace Engineering from Institute of Robotics and Mechatronics Southampton University in 1990, MS in Aeroplane Aerodynamics from Wessling, Germany Cranfield University in 1991 and a specialization from the University [email protected] of Rome La Sapienza in 1998. He is since then a Researcher with the Robotics and Mechatronics Center of DLR, Germany. Since 2012 he is Lecturer at the Chair for Aerospace Engineering of the TU Munich. according 1990 and his uding the IEEE/RSJ ltidisciplinary approach combining al awards, incl robotics team-project. He co-edited many books e-Motion For biographical details see “About the Multimedia Editors” published recognized scientific contributions and patented to the World EconomicAcademy Forum of (2013), the Royal and Netherlands is Academy of a Arts member and of Science. the Young David Lentink is anat Assistant Stanford Professor University. He of published MechanicalScience), papers Engineering developed on flying natural robots flightAcademic (DelFly, (Nature, Year RoboSwift), Prize won (2010), the is Dutch one of 40 scientists under 40 Dr. Christian Laugier isLeader Research of Director the at INRIAand recently and Scientific innovations to therobots. field He of is perception theHarashima and recipient award decision 2012. of He for sever has also autonomous co-founded four start-up companies. Chapter B.26 Chapter F.62 Roland Lenain obtained the PhDin degree 2005, from and Univ. spent Blaise 6Automatic Pascal, months Control France, as a at Postdoctoral Lund Fellowde University, in Sweden. Recherche the at Since Department Irstea, 2006, of France.observation he His and is research control Chargé interests of include wheeledand modeling, mobile harsh robots conditions. moving under uncertain Chapter E.49 John J. LeonardEngineering is and the Associate Samuel Department Headof C. for Mechanical Collins Engineering. Research Professor He inaddresses is of the the also MIT Mechanical problems a Department and of memberholds Ocean navigation of the and the degrees mapping MIT of for CSAIL.Pennsylvania BS autonomous His (1987) in mobile research and Electrical robots. DPhil Engineering He (1994). in and Engineering Science Science from from the the University University of of Oxford PhD in Condensed Matterwas with Physics AT&T from and MIT LucentScience Bell in Foundation Labs. 1995. CAREER He Awardee. Beforecomputational His is coming group a principles to focuses Fellow in Penn, of on biologicalbuild understanding the he autonomous systems, IEEE general systems. and and on a applying National that knowledge to Daniel Lee is theof Evan Pennsylvania. He C received Thompson his Term BA Chair in and Physics Professor from at Harvard the in University Jean-Paul Laumond, PhD 1984,CNRS IEEE in Fellow, Toulouse, is France. DirecteurIn His 2001 de research and Recherche is 2002 at2005 on LAAS- he to robot 2008, created he motion and wasresearch planning managed Co-Director explores and of a anthropomorphic the spin-off control. action French–Japanesecomputer via company science, laboratory a Kineo automatic JRL. mu control, CAM. His robotics, and From current neuroscience. Chapter A.15 Chapter E.46 Chapter E.47 Chapter D.43 David Lentink Christian Laugier Stanford University Department of Mechanical Engineering Stanford, USA [email protected] INRIA Grenoble Rhône-Alpes Saint Ismier, France [email protected] Massachusetts Institute of Technology Department of Mechanical Engineering Cambridge, USA [email protected] LAAS-CNRS Toulouse, France [email protected] IRSTEA Department of Ecotechnology Aubiere, France [email protected] John J. Leonard Roland Lenain Jean-Paul Laumond

University of Pennsylvania Department of Electrical Systems Engineering Philadelphia, USA [email protected] Dongjun Lee Daniel D. Lee Authors 2180 About the Authors About the Authors 2181

Aleš Leonardis Chapter C.33

University of Birmingham Aleš Leonardis is Chair of Robotics and Co-Director of Computational Neuroscience Department of Computer Science and Cognitive Robotics Centre at the University of Birmingham. His research interests Birmingham, UK include object and scene recognition and categorization, statistical visual learning, and [email protected] biologically motivated vision. He has been an associate editor of IEEE PAMI and an editor of the Springer book series Computational Imaging and Vision. Authors Stefan Leutenegger Chapter B.26

Imperial College London Stefan Leutenegger has received his PhD in Robotics from ETH Zurich South Kensington Campus, Department in 2014. Currently, he has a lecturer position at the Imperial College, of Computing London. His research interests range from unmanned solar airplane design London, UK to real-time vision-aided multi-sensor state estimation and mapping, as [email protected] well as unmanned aerial system (UAS) modeling, control, and navigation close to structure and terrain.

Kevin M. Lynch Chapter D.37

Northwestern University Kevin Lynch received the PhD degree in Robotics from Carnegie Department of Mechanical Engineering Mellon University in 1996. Since 1997 he has been faculty in the Evanston, USA Mechanical Engineering Department of Northwestern University, where [email protected] he is now Faculty Director. His research interests include robotic manipulation, motion planning, underactuated dynamic systems, human–robot interaction, and self-organizing systems.

Anthony A. Maciejewski Chapter A.10

Colorado State University Tony Maciejewski received BS, MS, and PhD degrees from The Ohio State University Department of Electrical and Computer and served for 14 years on the Faculty of Purdue University, West Lafayette. He Engineering is currently a Professor and Head of the Department of Electrical and Computer Fort Collins, USA Engineering at Colorado State University. He is a Fellow of the IEEE for his work on [email protected] kinematically redundant robots.

Robert Mahony Chapter E.52

Australian National University (ANU) Robert Mahony is a Professor in the Research School of Engineering at the Australian Research School of Engineering National University. He received his PhD in 1995 in Systems Engineering from the Canberra, Australia Australian National University after originally training in geophysics and working [email protected] in marine seismology. His research interests are in nonlinear systems theory and optimization with applications in robotics and computer vision.

Joshua A. Marshall Chapter F.59

Queen’s University Dr. Joshua Marshall is an Assistant Professor of Engineering and Applied The Robert M. Buchan Department of Science at Queen’s University, Kingston, Canada, where he directs the Mining multidisciplinary Mining Systems Laboratory. He holds an undergraduate Kingston, Canada degree in mining engineering, and graduate degrees in Mechanical and [email protected] Electrical Engineering. Over his career, he has worked on many robotics and equipment automation R&D projects, focusing primarily on field robotics.

Maja J. Matarić Chapter G.73

University of Southern California Maja Mataric´ is Chan Soon-Shiong Professor of Computer Science, Computer Science Department Neuroscience and Pediatrics at the University of Southern California Los Angeles, USA and Founding Director of the USC Robotics and Autonomous Systems [email protected] Center. She received the PhD and MS degrees from MIT in Computer Science and AI in 1994 and 1990. She is a Fellow of IEEE and AAAS and a Presidential Mentoring Awardee. Her research into socially assistive robotics enables robots to help users with special needs in rehabilitation. ,and obotics. 1979, and Award for his Micron d’Or lligent Systems, and received in Geometric Design of Linkages and hnology, Osaka University, and joined AIST in 2009. Arianna Menciassi obtained theBioengineering MSc in in Physics 1999. in SheArea 1995 Leader is and of Professor Surgical the Robotics of PhD andinterests Allied in Biomedicalhnologies. Tec involve Her Robotics research surgical and roboticsa and special microsystem synergy between technology,She with robot-assisted is co-chair therapy of and the IEEE bioengineering. Technical Committee on Surgical R Chapter F.63 François Michaud is Director ofnological the Innovation. Interdisciplinary Institute He for heldin Tech- the Mobile Canada Robots Research and2003 Chair Autonomous the (2001–2011) Young Inte Engineer Achievementof Award from Professional the Canadian Engineers. Council Histectures, research mobile interests robot are design,and in intelligent human–robot decisional systems. interaction, archi- robot learning, Claudio Melchiorri received the Laurea degreefrom in the Electronic University Engineering ofis Bologna, Full Italy, Professor in in 1985,Electrical, and Robotics Electronic the and since PhD Information 2001, Engineering inBologna. and of 1990. He is the He has with University published of theand about Department trajectory 280 of planning papers, and authoredinclude has 5 dexterous books filed manipulation, in 2 haptics, control patents. and His telemanipulation. research interests Chapter A.13 Chapter B.19 Introduction to Theoretical Kinematics Giorgio Metta is director ofTecnologia (IIT), the where iCub he FacilityFrom coordinates Department at 2001 the the development to Istituto of 2002Director Italiano the he di of iCub was IIT humanoid postdoctoral delegate robot. of for associate approximately international at 250 relations the peer-reviewed and publications. MIT external AI-Lab. funding. He He is is deputy author J.-P. Merlet is senior researcherrobotics. at He INRIA, where is he therobotics, works mechanism author on theory, of interval and analysis aFrance numerical and book and analysis. He has on is parallel receivedmicrorobot the for the robots surgical chair Altran and endoscopy. of Award of and IFToMM over the 200 papers in Dr. Yoshio Matsumoto is aInnovation Research Team Center, Leader AIST. He of receivedUniversity Service PhD of Robotics degree Tokyo in Research in Engineering Team,Nara from 1998. Robot Institute the He of Science has and worked Tec His for research the interests Australian includevision. National assistive robots, University, human–robot interaction, and real-time J. Michael McCarthy received thejoined PhD the degree faculty from at Stanford thebooks Universityin University of California, Irvinein 1986. He is the author of two has served as EditorEditor of of the the ASME ASME Journal Journal of of Mechanical Mechanisms Design and and Robotics. is the Founding Chapter G.77 Chapter B.18 Chapter G.67 Chapter A.4 Arianna Menciassi Sant’Anna School of AdvancedThe Studies BioRobotics Institute Pisa, Italy [email protected] INRIA Sophia-Antipolis Sophia-Antipolis, France [email protected] National Institute of AdvancedScience Industrial and Technology (AIST) Robot Innovation Research Center Tsukuba, Japan [email protected] University of Sherbrooke Department of Electrical Engineering and Computer Engineering Sherbrooke, Canada [email protected] University of Bologna Laboratory of Automation andBologna, Robotics Italy [email protected] François Michaud Jean-Pierre Merlet Claudio Melchiorri Yoshio Matsumoto

Italian Institute of Technology iCub Facility Genoa, Italy [email protected] University of CaliforniaDepartment at of Irvine Mechanical Engineering Irvine, USA [email protected] Giorgio Metta J. Michael McCarthy Authors 2182 About the Authors About the Authors 2183

David P. Miller Chapter G.79

University of Oklahoma David P. Miller is the Wilkonson Chair Professor of Intelligent Systems School of Aerospace and Mechanical at the University of Oklahoma. His teaching and research span the Engineering schools of Aerospace and Mechanical Engineering, Computer Science, Norman, USA and Bioengineering. His primary research areas are planetary rovers, [email protected] assistive technology, and robots for STEM education. He is a co-founder of the KISS Institute for Practical Robotics. Authors

Javier Minguez Chapter E.47

University of Zaragoza Prof. Dr. Minguez is Professor of Computer Science and Founder of the Neurotech- Department of Computer Science and nolgy Group at the University of Zaragoza (Spain). He is Co-founder of the startup Systems Engineering BitBrain Technologies, he raised funds for innovation and research from 50+ partners, Zaragoza, Spain published 90+ research publications and 5+ patents in neuroscience, neural engi- [email protected] neering, human-computer interaction, cognitive and motor neurorehabilitation and intelligent robotics.

Pascal Morin Chapter E.49

University Pierre and Marie Curie Pascal Morin obtained the PhD degree from Ecole des Mines de Paris, France, in 1996, Institute for Intelligent Systems and and then spent one year as a postdoc at the CALTEC, Pasadena, USA. From 1997 to Robotics 2011, he was Chargé de Recherche at INRIA, France. Since 2011 he is in charge of Paris, France the RTE-UPMC Research Chair on Autonomous UAVs. His research interests include [email protected] control of nonlinear systems and its application to mechanical systems.

Mario E. Munich Chapter F.65

iRobot Corp. Dr. Mario E. Munich is Vice President of Advanced Systems Technologies Pasadena, USA at iRobot Corp. in Pasadena, where he currently manages the research and [email protected] engineering development efforts. He received the degree of Electronic Engineer from the National University of Rosario, Argentina, and the MS and the PhD degrees in Electrical Engineering from CALTEC, Pasadena. His research interests include computer vision, sensors for robots, autonomous navigation, and human-robotic interaction.

Robin R. Murphy Chapter F.60

Texas A&M University Robin Roberson Murphy is the Director of the Center for Robot- Department of Computer Science and Assisted Search at Texas A&M. She has over 150 publications on Engineering artificial intelligence, human-robot interaction, and robotics including College Station, USA the Introduction to AI Robotics and Disaster Robotics. Her insertion [email protected] of tactical ground, air, and marine robots at 16 disasters includes the 9/11 World Trade Center disaster, Hurricane Katrina, and the Fukushima Daiichi nuclear accident. She serves on several government and professional boards.

Bilge Mutlu Chapter G.71

University of Wisconsin–Madison Bilge Mutlu is an Assistant Professor of Computer Science at the University of Department of Computer Sciences Wisconsin–Madison. He received his PhD degree from Carnegie Mellon University’s Madison, USA Human-Computer Interaction Institute in 2009. His research bridges human-computer [email protected] interaction and robotics, focusing on the development of human-centered principles and methods for designing robotic technologies.

Keiji Nagatani Chapter E.50

Tohoku University Keiji Nagatani received his PhD degree from the University of Tsukuba, in 1997. Department of Aerospace Engineering, Currently, he is an Associate Professor at Tohoku University, Japan. His research Graduate School of Engineering interest is field robotics, particularly, tele-operation of tracked vehicles for search and Sendai, Japan rescue missions, and development of mobile robots to explore volcanic areas. He is [email protected] a Member of the RSJ, SICE, JSME, JSASS and IEEE. 1995, 2012 he titute for 1984). His research lligent Systems for ognitive robotics. Trustee of the Univ., Rome. He graduated at Turin ounded the company Cognibotics AB accuracy. 2002. His research involves microrobotics Sapienza obotics from Carnegie Mellon University in eceived a MS from Sapienza ( ecently, Dr. Nilsson f Dr. Günter Niemeyer issearch, a Los Senior Angeles. Research Hisinteractions Scientist research and at examines interaction Disney physical Re- dynamics,teleoperation human-robotic force with and sensitivity without andfaces. communication feedback, Dr. delays, Niemeyer and received his hapticjoined MS inter- Disney Research. and PhD from MIT. In Eduardo Nebot holds aMS and BE PhD Electrical (Colorado State Engineering University, Fortat Collins). (UNS, He the Argentina), is School a of Professor Australian AMME, Centre University for of Field Sydneyfield Robotics. and robotics His the including main Director autonomous researchsubstantial of system, areas impact the in navigation are the and in mining safety and with intelligent transport system sector. Chapter F.59 Chapter D.43 Dr. Monica Nicolescu isScience an and Associate Engineering Professor Departmentand with at is the the the University Computer of Directorreceived the Nevada, of NSF Reno Early the CareerHer UNR Development research Award Robotics (CAREER) interests Award. Research arecontrol, Lab. in learning, In the and 2006 areas multi-robot of she systems. human-robot interaction, robot Daniele Nardi is Full ProfessorInformatics at and the Statistics, Faculty ofPolytechnic Information (1981) Engineering, and r interests are in artificial intelligence andRoboCup c Federation (President 2011–2014),laboratory he Cognitive is Robot leading TeamsEmergency and the and formerly research Civil Inte Defense. Chapter F.66 Chapter A.13 ecame Assistant Professor at the University of Illinois-Chicago in Associate Professor at the Universityand of Intelligent Systems Minnesota at in ETH 1998, Zurich and in Professor of Robotics and nanorobotics. Biological Cybernetics. He graduatedof in Freiburg Spring with 2011 a with thesis a on PhD Model from Learning the in University Robot Control. As an Associate Professorheading at the group the for Departmentin Robotics of several and Computer research Semantic Science, projects. Systems,software where His Dr. technologies. Nilsson he research R has includes is athat robot leading provides control role solutions systems for and improved related robot Duy Nguyen-Tuong isSchwieberdingen, a Germany where researchaplications he scientist for heads industrial at a roboticshas project Bosch projects. been group Corporate Before a on joing PhD Research machine Bosch, student learning in Duy in Nguyen-Tuong the Robot Learning Lab at the Max Planck Ins Brad Nelson received the PhD in R 1995. He b Chapter F.54 Chapter B.27 Chapter A.15 Günter Niemeyer Eduardo Nebot University of Sydney Department of Aerospace, Mechanical and Mechatronic Engineering Sydney, Australia [email protected] Disney Research Glendale, USA [email protected] Lund Institute of Technology Department of Computer Science Lund, Sweden [email protected] ETH Zurich Institute of Robotics andSystems Intelligent Zurich, Switzerland [email protected] Sapienza University of Rome Department of Computer, Control,Management and Engineering Rome, Italy [email protected] University of Nevada Department of Computer ScienceEngineering and Reno, USA [email protected] Klas Nilsson Monica Nicolescu Bradley J. Nelson Daniele Nardi

Robert Bosch GmbH Corporate Research Stuttgart, Germany [email protected] Duy Nguyen-Tuong Authors 2184 About the Authors About the Authors 2185

Stefano Nolfi Chapter G.76

National Research Council (CNR) Dr. Stefano Nolfi is Director of the Laboratory of Autonomous Robots and Artificial Institute of Cognitive Sciences and Life within the Institute of Cognitive Sciences and Technologies of the Italian National Technologies Research Council (CNR-ISTC). His research activities focus on evolutionary robotics, Rome, Italy collective robotics, adaptive behavior, complex systems, and embodied cognitive [email protected] sciences. Authors Illah Nourbakhsh Chapter G.79

Carnegie Mellon University Illah R. Nourbakhsh is Professor of Robotics and Head of the Robotics Robotics Institute Master’s Program in The Robotics Institute at Carnegie Mellon University. Pittsburgh, USA He is Director of the Community Robotics, Education and Technology [email protected] Empowerment (CREATE) Lab. He is co-author of Introduction to Autonomous Mobile Robots and author of Robot Futures.

Andreas Nüchter Chapter C.31

University of Würzburg Andreas Nüchter is a Professor of Telematics at the University of Informatics VII – Robotics and Telematics Würzburg, Germany. Before he headed the Automation Group at Jacobs Würzburg, Germany University Bremen as an Assistant Professor, was with the University [email protected] of Osnabrück, Fraunhofer AIS, and the University of Bonn. Andreas’ research interests include 3-D vision, and laser scanning technologies, resulting in fast algorithms for processing 3-D point clouds that enable robots to map their environment in 3-D.

Paul Y. Oh Chapter B.26

University of Nevada Paul Oh is the Lincy Professor of Unmanned Aerial Systems in the Mechanical Department of Mechanical Engineering Engineering Department at the University of Nevada, Las Vegas (UNLV). Formerly, Las Vegas, USA from 2000 to 2014, he served as amechanical engineering professor at Drexel [email protected] University in Philadelphia and both founded and directed the Drexel Autonomous Systems Laboratory (DASL). He received his Mechanical Engineering degrees from McGill (B.Eng. 1989), Seoul National (MSc 1992), and Columbia (PhD 1999).

Yoshito Okada Chapter E.50

Tohoku University Yoshito Okada is an Assistant Professor at Tohoku University, Japan. He received his Department of Aerospace Engineering, PhD from Tohoku University in 2012. His research interest is control, navigation, and Graduate School of Engineering mechanism of field robots, especially, tracked vehicles for search and rescue missions Sendai, Japan and aerial robots for structure inspection. [email protected]

Allison M. Okamura Chapter D.42

Stanford University Allison Okamura is a Professor at Stanford University in the Department Department of Mechanical Engineering of Mechanical Engineering, with a courtesy appointment in Computer Stanford, USA Science. Her awards include the NSF CAREER Award and the IEEE [email protected] Robotics and Automation Society Early Academic Career Award. She is an IEEE Fellow. Her interests include haptics, teleoperation, virtual environments, medical robotics, prosthetics, neuromechanics, rehabilitation, and engineering education.

Fiorella Operto Chapter G.80

Scuola di Robotica Fiorella Operto educated in Philosophy, she collaborated with the Genoa, Italy Italian Research Council (IAN and IEIIT Institutes) on the social [email protected] impact of advanced robotics applications. In 2000 she founded the School of Robotics Society and is its Chair today. Operto contributed to the definition and development of Roboethics. She is Member of the high-level Advisory Committee for European Centre for Women and Technology, consultant and member of The Open Roboethics Initiative, and member of the Ethics Committee of the Human Brain Project HBP. lties University obotics and titute of R 1987). His primary specia Crash Imminent Safety ille. She received the PhD degree from and is a Fellow of the IEEE. hnology. She previously worked for several years obotics, human–robot interaction, sensor networks, and For biographical profile, please see the section “About Partthe Editors”. For biographical profile, please see sectionthe “About theEditors”. Part are robotics, computer vision, sensorin networks, transportation and applications. sensor-based control Papanikolopoulos is the Distinguishedat McKnight the University University of Professor Minnesotaand DirectorRobotics of the and Center SECTTRA. for Distributed HeComputer holds Engineering from a Carnegie MSof Mellon and Engineering, University, PhD Electrical and and in Diploma Technical Computer University Electrical of Engineering and Athens, from Greece the ( National Chapter F.61 Ümit Özgüner is aat Professor the of Ohio ElectricalITS State and and University, is Computer where the Engineering he Director holds of the the new TRC Inc. Chair on Transportation Center. He wasCouncil the (now founding Society) President in 1999 of the IEEE ITS Chapter F.62 Jaeheung Park is Associatethe Professor BS at and Seoul MSrespectively, degrees National and University. from the He Seoul PhD received interests National degree lie University, from in Korea, the Stanford inforce areas control, 1995 University robust of haptic and in humanoid teleoperation, 1999, 2006. multi-contact robot, control, His and whole-body biomechanics. research control framework, contact Lynne Parker is a ProfessorScience in at the Department the of University Electrical of Engineering Tennessee, and Knoxv Computer the Massachusetts Institute of Tec Christian Ott received theUniversity, Dr.-Ing. Germany, degree in in Control 2005.Mechatronics, Engineering German In from Aerospace 2001, Center Saarland (DLR).Assistant he During Professor joined 2007–2009, in he the the wasTokyo, Ins Japan. a Department Project In of 2014, Mechano-Informaticsof he at Advanced became Robotic the Head Systems of University at the of Department DLR. for Analysis and Control as a full-time researcheron at distributed Oak intelligent Ridge r machine National learning. Laboratory. Her research focuses Giuseppe Oriolo is anSapienza Associate University Professor of of Rome AutomaticHis and Control research the and interests coordinator Robotics are ofand at the robot nonholonomic the DIAG control; systems; Robotics motion localizationrobots; Laboratory. planning; and visual navigation redundant, servoing. for underactuated He mobileRobotics has robots; from been 2001 humanoid to Associate 2005 Editor and of Senior the Editor from IEEE 2009 Transactions to on 2013. Chapter B.17 Chapter D.40 Chapter E.53 Chapter A.10 Chapter A.3 Chapter B.16 University of Minnesota Department of Computer ScienceEngineering and Minneapolis, USA [email protected] Nikolaos Papanikolopoulos Seoul National University Department of Transdisciplinary Studies Suwon, Korea [email protected] University of Rome “La Sapienza” Department of Computer, Control,Management and Engineering Rome, Italy [email protected] Ohio State University Department of Electrical andEngineering Computer Columbus, USA [email protected] Jaeheung Park Ümit Özgüner Giuseppe Oriolo

German Aerospace Center (DLR) Institute of Robotics andWessling, Mechatronics Germany [email protected] University of Tennessee Department of Electrical Engineering and Computer Science Knoxville, USA [email protected] Lynne E. Parker Frank C. Park Christian Ott David E. Orin Authors 2186 About the Authors About the Authors 2187

Federico Pecora Chapter A.14

University of Örebro Federico Pecora, PhD, is Associate Professor in Computer Science at School of Science and Technology Örebro University, Sweden. His research interests lie at the intersection of Örebro, Sweden AI and robotics with a focus on constraint-based reasoning and planning [email protected] algorithms. He has applied these techniques primarily in the development of domestic service robots, and in industrial automation domains with large autonomous vehicles. Authors

Jan Peters Chapter A.15

Technical University Darmstadt Jan Peters is a Full Professor (W3) for Intelligent Autonomous Systems Autonomous Systems Lab in the Computer Science Department of the Technical University Darmstadt, Germany Darmstadt and a Group Leader at the Max-Planck Institute for Intelligent [email protected] Systems. He has received four Master’s degrees in Computer Science, Electrical, Mechanical and Control Engineering from TU Munich and FernUni Hagen, National University of Singapore (NUS), and the University of Southern California (USC). He holds a Computer Science PhD from USC. Jan Peters has received the Dick Volz Best 2007 US PhD Thesis Runner-Up Award, the Robotics: Science & Systems – Early Career Spotlight, the INNS Young Investigator Award, and the IEEE Robotics & Automation Society’s Early Career Award.

Anna Petrovskaya Chapter D.41

Stanford University Anna Petrovskaya received her PhD in Computer Science from Stanford University. Department of Computer Science Her expertise is in computer vision and robotics with focus on Bayesian methods for Stanford, USA robotic and consumer applications. She developed efficient algorithms for autonomous [email protected] vehicles, mobile manipulation, and tactile perception. Versed in both industry and academia, she has a strong interest in bringing latest research from the lab into everyday use.

J. Norberto Pires Chapter F.54

University of Coimbra J. Norberto Pires received the PhD degree in 1999 in Robotics and Automation from Department of Mechanical Engineering the University of Coimbra, Portugal. Since 1991 he has been with the Mechanical Coimbra, Portugal Engineering staff, where he currently serves as Associate Professor. His research [email protected] interests include force control, industrial robotics, object-oriented and distributed programming, flexible manufacturing systems, and human–machine interfaces. He is an IEEE Senior Member, editor-in-chief of journal Robotica.

Paolo Pirjanian Chapter F.65

iRobot Corp. Dr. Paolo Pirjanian got a MSc in Computer Engineering and a PhD in Bedford, USA Robotics from Aalborg University, Denmark. He is the CTO of iRobot [email protected] and former CEO of Evolution Robotics with successful exit. He is a high- tech innovator, startup founder and entrepreneur. Dr. Pirjanian is strong strategist and innovator with operational experience in developing world- class teams and technologies from concept to market leadership while creating strong defensible IP portfolios and differentiated, competitive products.

Erwin Prassler Chapter F.65

Bonn-Rhein-Sieg Univ. of Applied Erwin Prassler received a Master’s degree in Computer Science from Sciences the Technical University of Munich in 1985. In 1989, he joined the Department of Computer Sciences Research Institute for Applied Knowledge Processing in Ulm, where Sankt Augustin, Germany he headed a research group working in the field of mobile robots and [email protected] service robotics where he received his PhD in Computer Science in 1996. In 2004, Dr. Prassler was appointed Associate Professor at the University of Applied Science Bonn-Rhein-Sieg and serves as IEEE RAS Vice President for Industrial Activities in 2016–2017. hnology, obotics hnology process to ounded Tactical titute of Tec obotics and Mechatronics, upport future businesses. coordinate the delivery ofand to technology build innovations capabilities to to s the marketplace Dr. John Reid isDeere the and Director Co., of Product wherenetwork Technology of he and R&D is centers. Innovation responsible Dr. at Reidan for and accelerated his the innovation colleagues process company’s jointly and orchestrate worldwide enterprise tec Chapter F.56 Nicholas Roy is an Associate& Professor Astronautics in and the aIntelligence Department Laboratory member of at Aeronautics of the thefrom MIT. Computer Carnegie He Mellon Science received University his andautonomous in PhD Artificial 2003. unmanned in His R vehicles, researchmaking human-robot interests under include uncertainty interaction, and decision- machine learning. William R. Provancher earned aical PhD Engineering from at the Stanford Departmentfeedback. University of in He Mechan- is haptics, tactile nowMechanical a sensing Engineering tenured and at Associate the Professor Universityinvolves of in haptics Utah. the and His Department tactile currentHaptics of research feedback. to commercialize He his has lab’s research also related to f tactile feedback. Chapter G.71 Chapter C.28 Jonathan Roberts is Professor(QUT). His in main Robotics research interest athe is Queensland in was the University Research area of of Directoris Technology field of a robotics. Before Past CSIRO’s joining Autonomous President QUT, was of Systems Deputy the Laboratory. Research Australian Jonathan Robotics DirectorAutomation. & of Automation the Association Australian Inc., Research and Centre for Aerospace Italy. His research interestsrobotics are and in geometric robotic control. grasping, haptics, visual servoing, mobile David Reinkensmeyer received the PhDUniversity degree of in California Electrical atRehabilitation Engineering Institute Berkeley from of the in Chicago. 1993,of He and Mechanical is was and currently a Aerospace aHis Postdoctoral Engineering Professor research at Fellow in the interests at the University Department the neurorehabilitation. are of in California, neuromuscular Irvine. control, motor learning, robotics, and German Aerospace Center (DLR)and in telerobotic 1999. Since group. 2004 Histelerobotic systems he work and is the is head design mainly of of multimodal the focused human–system telepresence interfaces. on the control of time-delayed Domenico Prattichizzo received the MS degreedegree in Electronic in Engineering and Robotics the and PhD 1995, Automation respectively. Since from 2002 the heof University is Siena Associate of and Professor Pisa, since of Italy 2009 Robotics in Scientific at 1991 the Consultant University and at the Italian Ins Carsten Preusche became a Scientist at the Institute of R Chapter D.43 Chapter F.66 Chapter D.38 Chapter F.64 John Reid John Deere Co. Moline Technology Innovation Center Moline, USA [email protected] University of Siena Department of Information Engineering Siena, Italy [email protected] University of CaliforniaMechanical at and Irvine Aerospace Engineering and Anatomy and Neurobiology Irvine, USA [email protected] Massachusetts Institute of Technology Department of Aeronautics and Astronautics Cambridge, USA [email protected] University of Utah Department of Mechanical Engineering Salt Lake City, USA [email protected] Nicholas Roy David J. Reinkensmeyer William Provancher Domenico Prattichizzo

German Aerospace Center (DLR) Institute of Robotics andWessling, Mechatronics Germany [email protected] Queensland University of Technology Department of Electrical Engineering and Computer Science Brisbane, Australia [email protected] Jonathan Roberts Carsten Preusche Authors 2188 About the Authors About the Authors 2189

Daniela Rus Chapter E.53 For biographical profile, please see the section “About the Part Editors”.

Selma Šabanović Chapter G.71

Indiana University Bloomington Selma Šabanovic´ is an Assistant Professor of Informatics and Cognitive School of Informatics and Computing Science at Indiana University Bloomington. She received her doctorate Bloomington, USA in Science and Technology Studies from Rensselear Polytechnic Authors [email protected] Institute in 2007. Her work combines the social study of interactive and assistive robots in various social and cultural contexts with research on human-robot interaction and social robot design.

Kamel S. Saidi Chapter F.57

National Institute of Standards and Dr. Kamel S. Saidi is a Mechanical Engineer in the Intelligent Systems Division (ISD) Technology at the National Institute of Standards and Technology (NIST). His research includes Building and Fire Research Laboratory the development of metrics, test methods and ground-truth systems, safety, dexterity, Gaitherbsurg, USA mapping and autonomy for manufacturing and emergency response robots. He holds [email protected] a PhD in Civil Engineering, a BS and MS in Mechanical Engineering from The University of Texas at Austin.

Claude Samson Chapter E.49

INRIA Sophia-Antipolis Claude Samson is Directeur de Recherche at the French research institute INRIA. Sophia-Antipolis, France Much of his research concerns robotics and automatic control, with a particular [email protected] interest in the control of nonlinear mechanical systems. He has published the book Robot Control. The Task-Function Approach with his colleagues Bernard Espiau and Michel Leborgne.

Brian Scassellati Chapter G.73

Yale University Brian Scassellati is a Professor of Computer Science, Cognitive Science, Computer Science, Cognitive Science, and Mechanical Engineering at Yale University and Director of the and Mechanical Engineering NSF Expedition on Socially Assistive Robotics. His research focuses New Haven, USA on building embodied computational models of human social behavior, [email protected] especially the developmental progression of early social skills. Dr. Scassellati received his PhD in Computer Science from the MIT in 2001.

Stefan Schaal Chapter A.15

University of Southern California Stefan Schaal is Professor of Computer Science, Neuroscience, and Depts. of Computer Science, Neuroscience, Biomedical Engineering at the University of Southern California, and and Biomedical Engineering a Founding Director of the MPI for Intelligent Systems in Tübingen, Los Angeles, USA Germany. Before joining USC, Dr. Schaal did research in the AI Lab [email protected] at MIT, the ATR in Japan, at the Georgia Institute of Technology and in the Dep. Kinesiology of PennState University. His research interests include statistical and machine learning, neural networks, computational neuroscience, functional brain imaging, nonlinear control theory, and biomimetic robotics. He applies his research to problems of artificial and biological motor control and motor learning.

Steven Scheding Chapter F.59

University of Sydney Steven Scheding received the BE and PhD degrees in Mechatronic Engineering from Rio Tinto Centre for Mine Automation the University of Sydney, Australia, in 1995 and 1998, respectively. He held the Sydney, Australia position of Senior Lecturer with the Australian Centre for Field Robotics, University [email protected] of Sydney from 2000 to 2010. He is currently Director of the Rio Tinto Centre for Mine Automation at the University of Sydney. His research interests include the automation of large outdoor vehicles, fault detection and identification, and algorithms and sensors for perception in unstructured environments. obot obot locomo- ilistic planning and reasoning, r For biographical details see “About the Multimedia Editors” . He is co-founder of several spin-off companies. obotics and Automation Society and is author of the textbook For biographical profile, please see sectionthe “AboutEditors”. the obot coordination, automated assembly, and human–robot social James Schmiedeler is anAerospace Associate and Professor Mechanical in EngineeringDame. the at His Department the current of University researchtion, of activities human Notre involve motor biped coordination, r biomechanics, and robot-assisted design rehabilitation, of human morphingrecognized systems. with His a research has Nationalreer been Science Award for Foundation Scientists Presidential andof Engineers Early (PECASE), the Ca- and ASME. he is a Fellow Chapter A.2 Patrick van der Smagtresearcher is at Professor fortiss for GmbHbiomimetic Computer Munich, robotics Science where and at machine hepatents TUM learning. directs on and Besides a robotics, numerous joint he papersAssociation has lab and won Erwin on various Schrödinger awards,Award, including and Award, the the the Helmholtz- Harvard King-Sun MedicalHe School/MGH Fu is Martin Memorial founding Research Prize. chairmanRobotics for of Tetraplegics. a non-for-profit organization for Assistive Bernt Schiele is Max Planckat Director Saarland at MPI University. InformaticsProfessor Before and at Professor coming TU Darmstadt, to Germany,Switzerland, Assistant Saarbrücken, and Professor postdoctoral at he associate ETH and was Zurich, at Visiting Assistant Full MIT, Professor USA. Hecomputer holds vision, a machine PhD learning from and ubiquitous INPG, computing. France. He is interested in Chapter C.33 Chapter G.77 navigation,multir interaction. Dr. Simmons hasthe developed Newell over Awardfor Research a Excellence dozen in autonomous 2004. robots, receiving Autonomous Mobile Robots Roland Siegwart is FullProfessor Professor at EPFL, for R&D Robotics Director atat at MECOS, ETH Stanford and Zürich. University held He postdoc andActivities and of was NASA visiting the positions formerly Ames. IEEE R He was Vice President for Technical Reid Simmons received the1988. PhD His degree research inissues focuses Artificial ofrobot on Intelligence control from autonomous, architectures, MIT self-reliant probab in robots, which involves Victor Scheinman is a ConsultingUniversity. Professor He in has Mechanical engineering EngineeringAutomatix degrees at from Inc. Stanford MIT and and Vicarmrobot, Stanford. Inc. the He He was Automatix/Yaskawa designed a Robotworld,Scheinman/MIT and founder the robot developed of Scheinman/Stanford the arms. Arm, UnimationAward He and PUMA for is the Design aRobotics Engineering recipient Technology. of and the the ASME’s RIA’s Leonardo Joseph DaVinci F. Engelberger Award for Chapter A.12 Chapter B.26 Chapter A.4 Chapter D.44 Chapter 1 James Schmiedeler University of Notre Dame Department of Aerospace andEngineering Mechanical Notre Dame, USA [email protected] ETH Zurich Department of Mechanical Engineering Zurich, Switzerland [email protected] Saarland University Department of Computer Science Saarbrücken, Germany [email protected] Technical University Munich Department of Computer Science,Labs BRML Munich, Germany [email protected] Patrick van der Smagt Roland Siegwart Bernt Schiele

Carnegie Mellon University The Robotics Institute Pittsburgh, USA [email protected] Stanford University Department of Mechanical Engineering Stanford, USA [email protected] Dezhen Song Reid Simmons Bruno Siciliano Victor Scheinman Authors 2190 About the Authors About the Authors 2191

Jae-Bok Song Chapter A.4

Korea University Jae-Bok Song received the BS and MS degrees in mechanical engineer- Department of Mechanical Engineering ing from Seoul National University and the PhD degree from MIT in Seoul, Korea 1992. He joined the faculty of the School of Mechanical Engineering, [email protected] Korea University, in 1993. Dr. Song served as a President of the Korea Robotics Society and as an Editor-in-Chief of the International Journal of Control, Automation and Systems. Authors

Cyrill Stachniss Chapter E.46

University of Bonn Cyrill Stachniss is a Full Professor for Photogrammetry at the University of Bonn, Institute for Geodesy and Geoinformation Germany. Before, he was a Lecturer at the University of Freiburg, a Senior Researcher Bonn, Germany at ETH Zurich, and a Guest Lecturer at the University of Zaragoza. In 2006, he [email protected] finished his PhD thesis supervised by Wolfram Burgard in Freiburg.

Michael Stark Chapter C.33

Max Planck Institute of Informatics Michael Stark is a research group leader at MPI Informatics. Before coming to Department of Computer Vision and Saarbrücken, he was a Visiting Assistant Professor at Stanford University. He holds Multimodal Computing a PhD from TU Darmstadt, Germany. His research interests are in computer vision Saarbrücken, Germany and machine learning. [email protected]

Amanda K. Stowers Chapter B.26

Stanford University Amanda Stowers is a Graduate Student in Mechanical Engineering at Department Mechanical Engineering Stanford University. She studies the biomechanics of bird wing morphing Stanford, USA and flapping as an inspiration for designing more effective flapping- [email protected] winged robots.

Stefano Stramigioli Chapter D.43 For biographical details see “About the Multimedia Editors”

Gaurav S. Sukhatme Chapter E.53

University of Southern California Gaurav S. Sukhatme is Dean’s Professor of Computer Science (CS) with Department of Computer Science joint appointment in Electrical Engineering at the USC. He received his Los Angeles, USA undergraduate education at IIT Bombay in CS and Engineering, and [email protected] MS and PhD degrees in CS from USC. He is the Director of the USC Robotic Embedded Systems Laboratory which he founded in 2000. His research interests are in multirobot systems and robot networks. He is a fellow of the IEEE and a recipient of the NSF CAREER award and the Okawa foundation research award.

Satoshi Tadokoro Chapter F.60

Tohoku University Satoshi Tadokoro is a Professor at the Graduate School of Information Sciences, and Graduate School of Information Sciences at the International Research Institute of Disaster Science, Tohoku University. He is Sendai, Japan President of the International Rescue System Institute since 2002, and was a Program [email protected] Manager of Japan Government’s DDT Project 2002–2007. He also is the Program Manager of the ImPACT Project since 2014. His research field is rescue robotics. He serves the IEEE Robotics and Automation Society as President in 2016–2017. obot lligent obots, and inte 2006, an Assistant Professor in eaching. He is a Fellow of Engineers access laboratories, landmine clearance, and lligence of humanoid r Russ is the X Consortiumand Associate Professor Computer of Electrical Science Engineering of and the Aero/Astro Center atIntelligence for Lab. MIT, Robotics His and research at focusescontrol the the on for Director optimization, Computer nonlinear planning, dynamical and Sciencemanipulation, systems and and including unmanned Artificial legged aerial robots, vehicles. robot Chapter E.48 James Trevelyan pioneered sheep1993, then shearing worked on robots remote understanding between engineering 1976 practice. and Heaward received for the contributions Joseph to Engelberger roboticsnumerous science awards in for 1993, distinguished twoAustralia t JIRA and served awards, 8 and years as ElectedCouncil Member of from the 2003. IFToMM Executive Russell H. Taylor received a1976. PhD in He Computer joined Science IBM fromprogramming Stanford Research language in in and 1976,group managed where before the he moving developed Computer-Assisted the toJohn Surgery AML C. Johns Malone Hopkins Professor Universityin of Mechanical in Computer Engineering, 1995. Science Radiology, He withLaboratory and joint is for Surgery appointments Computational the and Sensing Director and of Robotics. the Chapter F.58 Chapter F.63 vehicles. He is anLearning, IEEE IEEE RAS. member co-chair of the Technical Committee of R Marc Toussaint is Full Professorof of Stuttgart Machine since LearningGermany. and 2012. His Robotics research Before at focuses he the onlearning, University was the motivated combination Assistant by of fundamental Professor decisionare research theory combining at geometry, and questions logic FU machine and in probabilities & robotics. in TU Specific learning and interests Berlin, reasoning. Sebastian Thrun is aFounder Research of Professor of Google Computer X,that Science and won at the CEO Stanford DARPA of University, Grandwas Udacity, Challenge. home Inc. At to Thrun Google, Googlemedical directed Thrun Glass, contact the founded lenses, the new Google Stanford Google solutions X, to self-driving team early which car, cancer project detection, and Loon, other project projects. Wing, Dr. Takano completed his masterUniversity in at 2001 the and Department hisin of PhD 2006. Precision in He Information Engineering, became Engineering Kyoto 2007, a at and Project the then Assistant University Professor a ofkinematics, in Tokyo Lecturer dynamics, at the artificial University inte of Tokyo in 2009. His research includes Chapter D.40 Chapter G.68 Chapter E.46 Russ Tedrake Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory (CSAIL) Cambridge, USA [email protected] Udacity Inc. Mountain View, USA [email protected] The University of Western Australia School of Mechanical andEngineering Chemical Crawley, Australia [email protected] The Johns Hopkins University Department of Computer Science Baltimore, USA [email protected] James Trevelyan Sebastian Thrun Russell H. Taylor

University of Stuttgart Machine Learning and Robotics Lab Stuttgart, Germany [email protected] University of Tokyo Department of Mechano-Informatics Tokyo, Japan [email protected] Marc Toussaint Wataru Takano Authors 2192 About the Authors About the Authors 2193

Jeffrey C. Trinkle Chapter D.38

Rensselaer Polytechnic Institute Jeffrey C. Trinkle received his BS in Physics (1979) and Engineering Department of Computer Science Science and Mechanics (1979) from Ursinus College and Georgia Troy, USA Institute of Technology, respectively. In 1987, he received his PhD [email protected] from the University of Pennsylvania. He is now Professor and Chair of Computer Science at Rensselear Polytechnic Institute in Troy, New York. His primary research interests are in the areas of robotic manipulation, multibody dynamics, and automated manufacturing. Authors

Masaru Uchiyama Chapter D.39

Tohoku University Masaru Uchiyama received BE, ME, and PhD degrees from the University of Tokyo, Graduate School of Engineering Tokyo, Japan, in 1972, 1974, and 1977, respectively, all in Mechanical Engineering Sendai, Japan for Production. Since 1977, he has been with the School of Engineering, Tohoku [email protected] University and currently is a Professor of the Design of Intelligent Machines in the Department of Mechanical Systems and Design. His research interest is design of intelligent mechanical systems.

H.F. Machiel Van der Loos Chapter F.64

University of British Columbia Dr. Machiel Van der Loos is Adjunct Professor of Mechanical Engineering at UBC, Department of Mechanical Engineering Vancouver, Canada. He is Consulting Associate Professor of Mechanical Engineering Vancouver, Canada at Stanford University, collaborating on design coaching and thesis advising. He [email protected] received the Ingénieur Mécanicien degree from the Swiss Federal Institute of Technology, Lausanne (1979), and an Engineer’s Degree (1984) and PhD (1992) from Stanford University.

Manuela Veloso Chapter F.66

Carnegie Mellon University Manuela Veloso is Herbert A. Simon University Professor in Computer Computer Science Department Science at Carnegie Mellon University. Veloso researches in artificial Pittsburgh, USA intelligence and robotics, perception, cognition, and learning for au- [email protected] tonomous agents that collaborate, observe, reason, act, and learn. Veloso is a Fellow of IEEE, AAAS and AAAI, and the past President of AAAI and RoboCup. Veloso and her students have researched among others, soccer robots and service symbiotic autonomous mobile robots.

Gianmarco Veruggio Chapter G.80

National Research Council (CNR) Dr. Veruggio received the Degree in Electronic Engineering from Genoa Institute of Electronics, Computer and University, Italy, in 1980. He is Director of Research at the Italian Telecommunication Engineering National Research Council and Responsible for the Operational Unit Genoa, Italy of Genoa of CNR-IEIIT. In 2000 he founded the Association School of [email protected] Robotics and in 2002 he coined the word and proposed the concept of Roboethics, to which he is dedicating increasing resources. In 2009 he was awarded the title of Commander of the Order to the Merit of the Italian Republic.

Luigi Villani Chapter A.9

University of Naples Federico II Luigi Villani received the PhD degree in Electrical Engineering and Computer Department of Electrical Engineering and Science from the University of Naples in 1996, where he is Associate Professor Information Technology of Automatic Control since 2002. His research interests include robot force/motion Naples, Italy control, cooperative robots, visual servoing, safe physical human-robot interaction. He [email protected] has co-authored five books and more than 150 journal and conference papers. He has been Associate Editor of the IEEE Transactions on Control Systems Technology and the IEEE Transactions on Robotics. eceived a PhD 2007 from the robots. trunk, tentacle, and worm robot. He was the Supervisor of the Robotic Vehicles Group at Christian Wallraven received hisUniversity PhD in of Physics Tübingen. in vision After and two cognitive European systems,he projects founded he in moved the cognitive to Cognitivethe Korea interface Systems University, between Lab where machine inand learning 2010. neuroscience. Recent & His work computer workfacial is vision, expressions is for on robotics, set communication, modeling as on representations of well in face as human perception, multisensory and object robots. Chapter G.78 Robert Wood is aApplied Professor Sciences and in founder Harvard’sleverages of expertise School the in of Harvard microfabrication. Engineering Hisinclude Microrobotics current and Lab new research which micro- interests mechanics and of meso-scale low manufacturing Reynoldslimited techniques, and number computation-limited flapping fluid systems, active wings, softrobots, control materials, and wearable of morphable soft-bodied sensor- Alan robots. T. In Waterman 2012 award he of was the selected National for Science the Foundation. Ian D. Walker received thein BS 1983 from and theAustin, the University in MS of 1985 Hull, and England, andClemson PhD University. 1989, His degrees research respectively. from centers Hemanipulators on the is robotics, and University particularly currently novel manipulation. of ainspired Texas, He Professor conducts at research in biologically Chapter B.23 Chapter B.20 degree from Ecole desat Mines INRIA de Grenoble Paris sincein in 2001, Tsukuba, 2000. except Japan He for inoptimization has a based 2008-2010. control. been 2 His year Chargé research Marie de interests Curie Recherche include Fellowship walking at robots JRL and Brian Wilcox is atfor the the Jet ATHLETE PropulsionJPL Laboratory from and 1985–2005, is leadingSojourner the the rover Principal in development 1997 Investigator ofreceived the and rover NASA subsequent technology Exceptional Engineering Mars Achievement leading Medal. rovers. to He the holds six patents and has Pierre-Brice Wieber graduated from Ecole Polytechnique in 1996 and r Kenneth Waldron is Professor in theEngineering School of of Electrical, the MechanicalStanford University and University. He Mechatronic of has previously Technology, occupied Sydneyof academic positions New and at South Professor the University Wales,IFToMM, Emeritus the Houston of International and Federation Ohio forScience. State Promotion of University. Mechanism He and is Machine past President of Chapter F.55 Chapter E.48 Chapter A.2 Christian Wallraven Korea University Department of Brain andEngineering, Cognitive Cognitive Systems Lab Seoul, Korea [email protected] INRIA Grenoble Rhône-Alpes Grenoble, France [email protected] Harvard University School of Engineering andSciences Applied Cambridge, USA [email protected] Clemson University Department of Electrical andEngineering Computer Clemson, USA [email protected] Robert Wood Pierre-Brice Wieber Ian D. Walker

California Institute ofJet Technology Propulsion Laboratory Pasadena, USA [email protected] University of Technology Sydney Centre of Mechatronics andSystems Intelligent Ultimo, Australia [email protected] Brian Wilcox Kenneth J. Waldron Authors 2194 About the Authors About the Authors 2195

Jing Xiao Chapter D.36

University of North Carolina Jing Xiao received the PhD degree from the University of Michigan Department of Computer Science in 1990. She is currently a Professor of Computer Science at the Charlotte, USA University of North Carolina, Charlotte. She served as the Director of [email protected] the Robotics and Human Augmentation Program at the U.S. National Science Foundation from 1998 to 2000. Her research covers robotics and haptics, and she has about 100 publications. Authors

Katsu Yamane Chapter G.68

Disney Research Dr. Katsu Yamane received his BS, MS, and PhD degrees in Mechanical Engineering Pittsburgh, USA in 1997, 1999, and 2002, respectively, from the University of Tokyo, Japan. He is [email protected] currently a Senior Research Scientist at Disney Research, Pittsburgh and an Adjunct Associate Professor at the Robotics Institute, Carnegie Mellon University. Prior to joining Disney, he was an Associate Professor at the University of Tokyo. His research interests include humanoid robot control and motion synthesis, character animation, and human motion simulation.

Mark Yim Chapter B.22

University of Pennsylvania Mark Yim is a professor at the University of Pennsylvania. His group studies modular Department of Mechanical Engineering self-reconfigurable robots that can transform into different shapes, jump, ride tricycles, and Applied Mechanics climb stairs, poles and fences, manipulate objects and reassemble themselves after Philadelphia, USA being kicked into pieces. His other research interests include product design, reactive [email protected] art and architecture, low cost manipulation, snake locomotion, flying robots, and self-assembling floating structures.

Dana R. Yoerger Chapter E.51

Woods Hole Oceanographic Institution Dana Yoerger has been a robotics researcher, system developer, and heav- Applied Ocean Physics & Engineering ily involved in operations at the Woods Hole Oceanographic Institution Woods Hole, USA since 1984. He holds SB, SM, and PhD degrees from the Massachusetts [email protected] Institute of Technology. He has used underwater robots to explore the Mid-Ocean Ridge, ancient and modern shipwrecks, and to study the Deepwater Horizon oil spill.

Kazuhito Yokoi Chapter G.67

AIST Tsukuba Central 2 Kazuhito Yokoi received the BE in Mechanical Engineering from the Intelligent Systems Research Institute Nagoya Institute of Technology in 1984, and the ME and PhD degrees Tsukuba, Ibaraki, Japan from the Tokyo Institute of Technology in 1986 and 1994, respectively. [email protected] In 1986, he joined the Mechanical Engineering Laboratory, Ministry of International Trade and Industry. He is currently a Deputy Director of Intelligent Systems Research Institute (IS), National Institute of Advanced Industrial Science and Technology (AIST), in Tsukuba, Japan.

Eiichi Yoshida Chapter G.67

National Institute of Advanced Industrial Eiichi Yoshida received ME and PhD degrees from Graduate School of Engineering, Science and Technology (AIST) University of Tokyo in 1993 and 1996, respectively. He is currently Co-Director CNRS-AIST Joint Robotics Laboratory, of CNRS-AIST Joint Robotics Laboratory (JRL), UMI3218/CRT, at the National UMI3218/CRT Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan. Tsukuba, Ibaraki, Japan [email protected] His research interests include robot task and motion planning, human modeling, and humanoid robots. hnology in ities include iting Lecturer at the International hnology (KIST). He served as the 5th and For biographical profile, please see the section “About Partthe Editors”. Dr. Yuh, IEEE Fellow, is currentlyInstitute Endowed of Chair Science Researcher and at6th Tec Korea President of theFoundation Korea Aerospace Program University, US Director, NationalProfessor Head Science of of Mechanical NSF EngineeringScience Tokyo at and Regional the Information University Office, of & Hawaii. Computer Chapter B.25 Kazuya Yoshida received his Dr.1990. Eng. Since from 2003 he theTohoku has Tokyo University, been Institute Japan. Professor of He in Tec isSpace the also Department University serving of in as Aerospace a Strasbourg,dynamics Vis Engineering, France, and since control 1998. ofexploration His space rovers. research robots activ covering from free-flying robots to planetary Chapter F.55 Chapter F.62 Korea Institute of ScienceTechnology and National Agenda Research Division Seoul, Korea [email protected] Junku Yuh

Tohoku University Department of Aerospace Engineering Sendai, Japan [email protected] Alex Zelinsky Kazuya Yoshida Authors 2196 About the Authors 2197

Index

2-D flow 596 actuator 539 agricultural robotics 1365 3-D computer aided design model – dynamics 605 agriculture 626, 1366 788 –effortsensor 677 agriculture and forestry (A&F) 3-D point cloud data 1189 – electromagnetic 78 1365 3-D printer 539 – for manipulation 647 aircraft dynamics 603 3-D query point 749 – hydraulic 80 airfoil 596

3-D reconstruction 626 – placement 449 airplane 606 Index 3-tiered (3T) 337 – pneumatic 80 – static performance 606 6 DOF localization 987 – vibrotactile 1014 – static stability 606 – with mechanically adjustable series algorithmic singularity 229 A compliance (AMASC) 487 altimeter 576 AdaBoost 785 ambient assisted living (AAL) 1781 a three layer architecture for added mass 1207 amplitude shift keying (ASK) 578 navigating through intricate additive manufacturing 539 analytic Jacobian 219 situations (ATLANTIS) 280 adjacency pair 1752 anatomically correct testbed (ACT) AAAI Robot Challenge 288 adjustable pattern generator (APG) 1649 abstraction layer 1116 1896 android 1745 acceleration-resolved control 197, admissible configuration 855 – robot 1767 207 admittance 1007 angle of attack (AOA) 606, 1230 accelerometer 1014 – control 193, 199, 200 –matrix 1230 access and economics 1577 –matrix 861 angular momentum 1127, 1143 accuracy analysis 431 adversarial environments 1282 animacy 1742 ACM-R snake robots 464 aerial animal detection 1513 Acorn RISC machine architecture – based precision agriculture 1382 annealed particle filter (APF) 988 (ARM) 577 – robot 623, 625 anthropomorphism 448, 1743, 1766 acoustic – robot control 1234 antipersonnel 647, 1413 – baseline 1212, 1216 – robot guidance 1234 anti-tank mine 1414 – communication 577 – robotic emerging application 625 anti-vehicle 1414 – imaging 574 – robotics 593, 1225 arable farming 1369 – modem 576, 578 – vehicle 1485 arbitration 279 – positioning system 575 aerodynamic arc length 468 –sensor 574 – center (AC) 607 architecture 279, 300–302, 1255 acoustic Doppler current profiler –drag 613 –behavior-based 280, 310, 311 (ADCP) 574 – efficiency 606 – component 282 Acrobot surgical robot 1532, 1533, – flight mechanics 595 –design 290 1536 –force 597, 606 – implementation 291 acrylonitrile–butadiene–styrene – mechanism 617 – layered control 280 567 –moment 606 – subsumption 280 activation behavior-based 305, Aesop surgical robot 1530 – three-layer 301, 302 307–309 affordance Arduino 1939 activities for daily living 1552, – detection 971 area correlation stereo 744 1718, 1781 – learning 967 arm guide 1561 activity theory 1754 agent remote 281 articulated body 54 actuating system 1213 agile articulated object 791, 993 actuation 1010 – manufacturing 1301 articulated robot 555 – architecture 451 – robot development network articulate-type modular robot 515 –net 452 (aRDnet) 292 artifact 717 310 1915 303, 1752 325 183 307, 308 60 301, 779 1603 305– 1435 144 722 983 313 303 95 308 304 820 303 310 712 303 1269 1769 1939 1889 324 983 780 302 302, 985 985 284 304 1895 325, 1873 306 1935 324 260 284 260 279 435 983 569 985 985 568 307 oordination c 305– bag-of-word balancer ballast bang–bang-control baseball playing robot basic level object class BASIC stamp basis behavior basis of object representation basket cell batch estimation bathymetric survey battery Battlebots Baumgarte stabilization Bayes rule Bayesian – belief – filter – framework – inference –network –prior – probability – recursion – state estimation Bayesian dynamic network beam – bending – sonar pattern – torsion bearing estimation bee and robot behavior – adaptive – control – homeostasis – language – mark-up language (BML) – primitive (BP) behavior-based – activation – basis behavior – backward Euler algorithm – fuzzy system – history of behavior use – interaction dynamics – learning – misconception – multi-robot system – planning – principles 565, 280, 1905 1007 1489 1850 1036 362 403 1967 1967 1445 258 1004, ognition 1450 1483, 1618 1198 1373 1485, 1397 415, 1427, ge rec 1752 993 1743 1438 620 1612 cal support robots 1335 1445 1450 1776 1466, 1404 1439 1518 1417, 610 1775 1439 621 1204, B 1530 solutions through software reconfiguration (ASyMTRe) 1275 (ACBS) (ASR) 566, 302 1967 1649 (ASTRO) back-channel – response baby schema back-drivability backstepping control – synthesis of multirobot task – vehicle – welding robot – speech recognition (ASR) – spoken-langua – tramming – underwater vehicle (AUV) – vehicle autonomous system automatic – constructions building system – target recognition – subtrack control – in mining auxiliary surgi autopilot average-reward criterion aware home – robotics research average landmark vector autonomous – combat flying vehicle (ACFV) – digging – dozer – excavation – flight – flying vehicle (AFV) – guided vehicle (AGV) – mental development (AMD) – orchard vehicle – robot architecture (AuRA) – space transport robotic operations – aquatic vehicle (AUV) – exploration 1064, 282 1520 1347 514 650 319, 1502 789, 1303 282, 1770 1804 1568 229 1334, , 8, 2 1397 1879 482 1347 1397 860 1395 1575 1673 1006 1933 1952 205 320 596 1871, 1520 1246 1309 847 859 486 tion robot 1776 1786 1771 1567 1851 1747, 1872 1646, 1306 699 ded vehicle (AGV)

1768 gui 1823, 1494, 1569 573,

– highway – highway system (AHS) – reasoning – reinforcement – constraint – evolution artificial – bacterial flagella (ABF) –hand – neural network (ANN) artificial intelligence (AI) – intelligence (AI) – muscle system – intelligence system (AIS) –muscle – rehabilita – line – motion – process assistive – interaction dynamic – robot – incidence matrix (AIM) – robot service manipulator (ARM) – technology atmosphere attention – focus – monitoring behavior –shared attitude – and heading reference system – observer attitude control – free-floating robot – bus rapid transit (ABRT) – assembly ask-back assembled state – reaction wheel autism automated – brick alignment – brick laying attractor field augmentation augmented Jacobian Index 2198 Index Index 2199

– reasoning 304 brachistochrone OC problem 501 cascaded control – reinforcement learning 306 bracing strategy 260 – architecture 611 – representation 304 brain imaging 1563 – structure 495, 622 – robotics 279 brain-computer interface 1563 caster wheel 549, 550 –system 299 brickwork caterpillar 534, 1436, 1446 – vision system 311 – component 1395 ceiling belief 1753 –plant 1396 – panel placement robot 1400 – roughness 985 – positioning 1397 – vision SLAM 1609 –set 1751 broad particle 987 cellular robotic system 513 – space 990 broadcast 283 Center for Robot-Assisted Search – space search tree 990 and Rescue 1468 – of local eligibility (BLE) 310, – state 988 center of 1277 –system 1751 – buoyancy 1209 Brockett’s theorem 1145, 1169 Index Bellman – compliance 195 browser 1049 – equation 326 – gravity 606, 1195, 1206, 1650 Brunovsky canonical form 169 – principle of optimality 363 –mass 267, 414, 419, 995, 1127, brush tire model 558 bend propagation 536 1556, 1656 Bernoulli equation 597 brushless DC electric motor 78 – pressure (COP) 1128 best practice in robotics 293 buckling 533 – rotation 893 best-first-planner 1657 – gripper 536 – stiffness 195 bi-articular muscle 534 building component recycling 1404 center of rotation (COR) 883 bigram model 1673 bulldozing resistance 1353 central pattern generation 528, bilateral control 1024, 1335 bundle adjustment 770 1143 bi-manu-track 1561 buoyancy 567, 1209 centrifugal clutch assembly 1311 bin-picking 1307 – center of 1209 centroid bio-inspired bus rapid transit 1520 – contact 1015 – actuation 1847 – moment pivot 414 – climbing 1850 C ceramic matrix composite 485 – robotics 1842 cerebellar – soft robot 1851 cable-driven parallel robot 240, 428 – control 1895 biological Canadian Scientific Submersile – model 1898 –leg 1847 Facility (CSSF) 1204 – model articulation controller 370, – model 1844 CAN-bus 514 1896 – principle 525 capacitive pressure sensing array cerebellum 1887 – society 1267 678 cerebral palsy 1552 –system 499, 1844 capstan 1009, 1010 chain biomimetic 731 capture – kinematic topology 388 –gait 526 – and berting 1334 – reconfiguration 517 chained-form system 1106, 1163 – robot 524 – point (CP) 1134 bionic handling assistant 467 charge-coupled detector 93 car body painting 1328 biped robot 1846, 1860 charge-coupled device 637, 674, carbon fiber 537, 1328 blind bulldozing 1280 1376, 1867 – reinforced plastic 567 blind-spot detection 1513 Chasles’ theorem 17 – reinforced prepreg 536 Bode chattering 170 –diagram 248 carbon nanotube 485, 652 Chebychev–Grübler–Kutzbach –plot 457 cardinal direction calculus 331 formula 429 body extender 1726 car-like robot 553 chemical spill 1460 body pose 785 carrot heading 1194 chemical vapor deposition 639 body-affect mapping 1770 Cartesian Christoffel symbol 46 boosting 782 – impedance control 494 circuit switching 1046 botball 1934 – manipulator 69 CKbot 516 boundary layer 171, 597 – space stiffness matrix 397 clamping 1683 bounding sphere 1011 – stiffness 495 class detection 786 box pushing 1280 – stiffness control 494 classical mobility formula 429 39, 1527 467 1537 1307, 965 1528 513, , 221 1216 99, 965 1007 1395 126, 1528, 1006, 1211 278 125 567 1654 416 1671 408 124, 984, 255 602, 1339 1313, 1399 1869 1402 1957 337 1469 173 1965 388 1398 1395 1395 260 1394 788, 1527, 865 1211 321 862 1400 1685 1053 170, 90, 1901 1012 1305, 1392, emote driving 55 1400 1302, 1318, r – – execution – planning component – modeling – production composite material composite-rigid-body algorithm compression – criterion computational – adequacy – fluid dynamics – model – neuroethology computed tomography computed-torque – control computer ethic computer graphics computer integrated construction computer numerical control – drafting – engineering – manufacturing computer-aided –design conditioning kinematic confidence measure – tomography computer-aided design (CAD) – model computer-integrated surgery computional brain concentric tube manipulators conceptual design concrete – distribution –finishing – leveling robot – production – pumping car – spraying robot concurrent execution – mapping and localization – reactive plan condition number conditional factor graph conditional random field 674, 791 1130 887 1508 832 998 1689 1257 285 1047 265 1876 1264 622, 1786 204 1846 252 1488 204 954 205 1264 1512 1617 1619 1683 1607 195 518 956 1694 518 1619 531 1512 1694 880 193, 1749, 1214 1212 195, 1674 862 195 193, 1263 955 1775 1539, 532 1056 grasping n 715, metal-oxide-semiconductor 279, compliant – contact –matrix – environment –fin –grasping –hand – humanoid platform – material compliant motion – active compass – gait walking competing behavior – frame –i – theory competition compliance – active – center of – control – interface – skill –system – and cooperation – challenge – scenario complementarity condition complementarity problem complementary – for control –graph – intelligence –protocol – access for land mobiles – for perception – isolation – mitigation – warning – ground – object request broker architecture – objects in context (COCO) communication – modeling – reaction color camera with depth command shaping commercial off-the-shelf common – gateway interface 1772 1741 1594 282 525 1757 1681 1443 1694 490 1749 226 1280 327 1272 701 1046, 1047 285 1268 781 1350 1746 1895 1592 1595 1414 278, 606 1046 1747 122 1010, 1607 1280 857 499 597 114 101, 780 1254, 299 1029 782 1741 1562 1011 1744 1747 427 145 1402, 57, 1564 1572 voidance

a

– avoidance technology – detection cleaning – robot C-obstacle classification of customers classifier Claytronics project – technology client/server cliff sensor climb factor climbing fiber clinical – testing –use closed –chain – world assumption closed kinematic –chain – loop closed-loop – dynamic – execution and recovery – inverse kinematics clustering clutching co-activation stiffness coarse-acquisition cockroach inspired robot codebook coefficient – of restitution cognition – embodied –social cognitive –aid – development cluster bomb – human–robot interaction – model – model of robot control –system cognizant failure collaboration and teamwork collaborative control collaborative interaction collective – robot construction – transport collision – Index 2200 Index Index 2201

configuration 859 – model 879 – null-space projection 852 – space 71, 136, 858, 1127 –sensor 1607 – of nonholonomic systems 1163 – space manipulation 854 – stiffness 895 – operational space 850 – space obstacle 857 – vibration 1014 – optimal 239, 1137 – space topology 856 – virtual manipulator 206 – path-tracking 1446 connection – wrench sum 1658 – position and force 851 –event 1752 contact state – redundant manipulator 851 –system 1405 –graph 863 – robot hand 459 connectivity graph 47 – identification 864 – robust 1146 conservative congruence – principal contact 860 –shared 1028 transformation 435 contextual inquiry 1943 – stiffness 193 constant curvature model 471 continuous – supervisory 1027 constellation model 783 – activity scheduling, planning,

– synthesis 1270 Index constrained execution and replanning 282 –system 143 – modes of a joint 21 – hidden Markov model 1700 –task 1828 – motion 192 – operating reference station 704 –task-level 850 constraint –path 1303 – unit 647 – (selection) matrix 885 – time 1013 – volume analysis 596 – artificial 205 – variable transmission 485 controllability – holonomic 25 continuous-transmission frequency – capturability 1133 – Jacobian 202 modulation 709, 723 – capture point 1133 – kinematic 192, 201 – application 725 – small-space 1142 – natural 204 – range discrimination and resolution controlled – nonholonomic 25 724 – floor-by-floor deconstruction – satisfaction problem (CSP) 329 – sonar 723 1404 – task Jacobian 229 – transmission coding 723 – oscillatory dynamics 498 construction 1392 continuum controller – automation 1389 – Jacobian 471 – area network 411, 576, 841 – elementary process 1391 – kinematics 470 – optimization 1675 – industry 1390 – limbed robot 468 controlling robot 1188 – machine 1394 – manipulation 858 convergence tracking error 176 – on-site 1399 – manipulator 466, 858 – phase 1391 – robot modeling 463 convolution 789 – process 1391 contract net protocol 1277 – neural network 783, 789 – project 1390 contraction mapping 252 cooperative 1254 – robot 1390 control 957, 1214, 1446 – adaptive cruise control 1505 – robotics 1392 – acceleration-resolved 195 – intelligent real-time control – robotics categories of 1394 – adaptive 173, 258 architecture 282 – site 1403 – admittance 193 – interaction 1681 – stakeholder 1391 –basis 853 – manipulation 1280 contact 1015 – biomimetic 1143 – manipulation control 869 – angle of track 1196 – command interpreter 834 – manipulation planning 870 – centroid 1015 – compliance 193 – manipulator 933 – compliant 880 – damping 193 – multiarm system 943 – configuration 860 – decentralized 163 – multirobot observation of multiple –display 1015 – feedback 1158 moving target 1281 – dynamics 1349 – for perception 1265 – task space 939 – estimation 994 –force 1007, 1146 – vehicle infrastructure system – formation 863 – impedance 193 1508 – interface 879, 889 – in mobile manipulation 960 coordinate – kinematics 880 – interaction 192 – absolute frame 939 – location sensor 678 –law 499 – generalized 25 –manifold 988 – motion 160, 1317 – measurement machine 982 – mode 882 – multiobjective 852 – spatial transform 41 854, 577 578, 112, 703, 641, 161, 184, 365 1489 1494 830 109, 621 780 473, 1009 290 985 1405 1306 49, 578 300 1715 577 1442 465, 312 388 321 183, 428, 1418 1312 1303, 1776 995 727 552 388 26 1669, 112, 1267 1006 388, 1446 551 539 926, 1107 1415– 1510 1446 448 395 392 392 436, 1507 1649, 1504 514, t–Hartenberg 746 vi ee of 388, 1303, 1045 gr 1442, 727, de Dempster–Shafer theory Dena – convention – parameter Denning ring dense wave division multiplex deoxyribonucleic acid deictic gesture deliberative system delicate object delta robot demining – freedom (DOF) – mobility – steerability degree of freedom (DOF) digital-to-analog – phase shift keying – terrain mapping deployment deposition description logic design – for assembly – philosophy – robotic architecture detecting human activity detection – and tracking algorithm – vehicle deterministic method dexterity – global – index – local difference of Gaussian differential – dynamic programming – elastic actuator –flatness – global positioning system dig – control – planning digital – analog converter –map – signal processor (DSP) 427, 680, 982, 1197, 283 69, 649 323 836 1754 409, 642, 958, 1561, 1573 1521 1633 39, 1162, 389 1687 1493 642, 125 23, 387, 621, 905, 1633 254 1440, 1482 1507, 1619, 1426 1093, 1469 1905 434 1450 292, 582, 886, 163 101 780 1376, 1631 993 1029, 79, 218, 530, 844, 1188 193 1009 556 , 994 224 485 1208 199 1332, 1784 557 195 513, 756, 1007, 1421 communication 571 1262 115, 487, 699, 985, 1208, 1689, decoupled robot decoupling control – reactive ion etching – sea remotely operated vehicle Defense Sciences Office damaged building damped least squares damper damping – control – factor – ratio DARPA – challenge – grand challenge – Robotics Challenge – Software for Distributed Robotics – Urban Challenge data – association – communication – distribution service (DDS) datcom Davis–Putnam algorithm DC motor deactivation and decommissioning dead reckoning decentralized data fusion decision-theoretic model decontamination decoupled architecture dedicated short-range deep – belief network deformable – object – part model – surface – terrain – tire degree – of freedom (DOF) – gathering – processing problem 160 150 1264 567 572 1268 1530, 1304 1848 1595 1161 1366 1004 1112 1372 1278 1379 303 788 790 1260 1369 1012 1744 1129 435 1720 1348 529 1258 1746 567 1594 497 1897 195 1602 469 462, 1011 1266, 232 1011, 136 22 1540 1744

D 1538– 576

da Vinci surgical robot – joint – shaped pressure vessel – pressure Coulomb – friction cyclicity cylindrical – algebraic decomposition Coriolis and centrifugal force correspondence cost – function – of transport counter-rotating thruster cutaneous (tactile) cyber physical system coordination –behavior-based – decentralized counterweight coupling –momentum – stiffness – virtual coverage – configuration protocol –strategy CPG-based controller Cramér–Rao lower bound crane automation crank-rocker credit assignment – problem crop – production cycle – yield estimation C-space cue – nonverbal cultural model curvature – velocity method curvilinear abscissa customer expectation cross-sensor acoustic interference crowd-sourcing crush depth Index 2202 Index Index 2203

dilution of precision 702 drag E dimensional synthesis 429 – coefficient 603 dimensionless space 394 –force 1209 early device 1562 dip-pen nanolithography 641 – representation 597 earth-centred, earth-fixed 703 direct dragline automation 1442 earthmoving automation 1403, – control 1024 drawbar pull 1192, 1353 1438 – marker tracking 1676 drilling 1439 echo waveform – methanol fuel cell 569 driver assistance 1511 – coding 719 – modeling 351 drone 624, 1412 – processing 721 – teleoperation 1029 dry adhesive 530 eddy current directional stability 607 dual-arm telerobot 1025 –damper 486 directivity pattern 712 – metal detector 1415 Dubins path 1243

Dirichlet process 964 education 1006 Index dutch-roll mode 1238 disability 1566 educational dynamic 37 disaster – evaluation 1943 – Bayesian network 325 – characteristics 1463 – robotics 1932 – Bayesian system 983 – response 624, 1248 effector-space 348 – climbing 531 – robotics 1460 efficiency 792 – covariance scaling 1092 disaster robot ego-motion 92 – feedback linearization 256 –task 1461 elastic –gait 409 – type 1462 –band 868, 1118 – manipulability 1008 discontinuous contact 1013 – joint 416 –matrix 398 discrete – joint torque 1688 – model 607, 1190 – cosine transform 1490 – roadmap 868, 963 – movement primitive 967, 1673 – element method 1191 – strip 868, 963 – multisensor system control 835 – Fourier transform 724 elastostatic performance 396 – hidden Markov model 1700 – neural field 1699 electric support measure 1488 discriminative – planning 1702 electrical – function 966 – programming-based method 363 – discharge machining 641 – learning 787 – singularity 1345 – master–slave manipulator 1419 – model 782 – sinkage 1353 – stimulation 1561 dispatch problem 1437 – state machine 1879 electroactive polymer 81, 485 displacement group 429 – system identification 492 electroadhesion 531 display – unconstrained 1682 electrocardiogram 1517 – contact 1015 – window approach 1112, 1114 electroencephalography 1056, 1574 – slip 1015 dynamic passive walker 1860 – surface 1016 electrolytic corrosion 568 dynamically consistent – tactile 1014 electromotive force 79 – generalized inverse Jacobian 852 – vibration 1006 electromyography 1561, 1573, – inverse of the Jacobian matrix distance 1671, 1718, 1893 234 – from singularities 221 electron microscope (EM) 636 dynamics 436 – transform 787 electron-beam 638 – accuracy 62 distributed 1254 – induced deposition 653 – cognitive system 1749 – assessment 616 electronic speed controller 1235 – control 1263 – canonical equation 38 electronics controller unit 1335 – field robot architecture 832 – closed-loop 57 electrooptical 1485 – localization 1263 –forward 38, 54 electrorheological 486 – optimization 1266 –inverse 38, 51, 197, 208, 245, 265 electrostatic 715 – robot architecture 1255 – inverse control 167 – actuator 483 domestic robotics 1591 – model 983, 985 electrostrictive 484 Doppler velocity log 571, 573, 574, – real-time implementation 62 element momentum theory 600 1212 –software 63 elementary operator 1823 double-acting actuator 452 – symbolic simplification 63 elevation model 756 865 1056 1332, 1134 1048 1921 724 1056, 256 866 1027, 1868 1256 524 263, 283, 538 1495 1402 1107 1867, 780 1218, 1540 936 89 1492 1771 90, 1402 942 790, 1086 224 566 220 338 1158 782 1899 1004, 206 710 516 1754 F equipment model ellipsoid 1718 mapping 1452, fast –forward – Fourier transform fault detection – range family of integrated rapid response – simultaneous localization and feasibility of compliant motion feasible – minimum buffering time – velocity feature – coding – creep – extraction – linearizability false – belief task fabrication method facade – operation – painting robot facial recognition factor – damping – of safety Fagg–Arbib–Rizzolatti–Sakata extensible – hyper text markup language – markup language – frame – selection feedback – control – control and planning – dynamic linearization – haptic external force external velocity manipulability exteroception extrapolated center of mass extrastriate body part area extravehicular activity extreme locomotion 751, 580 1006 1412 94, 1880 568 1005, 1333 1553 1877 830 1411, 1782 1879 1869 279 468 1871, 1898 174 532 1862 1416 1205 768 1724 1203 1875– 95 186 324 1577, 287 1862 1944 861 1004 1857, 1936 984, 1674, 597 89 1871 1025 1851, 1846 1421 94 1046 13, 1069, oratory procedure human–robot symbiotic interaction 1565 781, Robotics augmentation xpl – of learning evolutionary – algorithm – biology – robotics – robotics software platform European Octopus European robotic arm event calculus evidential reasoning – Hebbian learning – learning rule evolvable hardware evolving morphologies for excavator execution – monitoring – support language exoskeleton – based therapy robot – for human performance expandable polystyrene expanding role expectation maximization evolution – artificial e – equation European Conference on Educational error – convergence – correction escapement cam essential matrix estimated inertia estimation – linear model – process ethnography ethernet ethical issues Euler – angle explosive – disposal – ordnance disposal – vapor detector 1396 1606 1768 321 1447 420 1752 1034 1552 1566, 45 160 1801 768 1189 211 1847 1775 966 990 1769 1013 1006 1575 1207 46 45 485 1745, 43 204, 481, 1259 261 1769 1747 47 1747 1774 1539 570 163 43 1004, 1035 91 1008 1747 989 1539 1013

igid body r

– spatial enabling technology encoder end of arm end-effector – based therapy robot – motion endoluminal – robot embedded – computer – intelligence embodiment emotional –empathy – support emotion-based interaction – surgery energy – based function – bounding algorithm – density – dissipation – efficiency – leak – packet – stability margin – stability margin (ESM) engagement generator enhanced horizon control enterprise resource planning emotion theory entertainment entropy – minimization envelope display environment – compliant – cultural – disturbance – model – physical –social – virtual epipolar constraint epistemological adequacy equation of motion – impulse – joint-space – Lagrangian – operational-space – Index 2204 Index Index 2205

– linearization 168, 253 –wing 528, 617 form – motion planning 866, 962 – wing unmanned aerial system –closure 882, 954 – of motor variable 249 593 – of human 1831 – planning 866 flash LIDAR 741 formal method 1270 – requirement 849 flat hierarchy 1894 formation 1279 – vibration 1014 fleet management 1437 – contact 863 – vibrotactile 1014 flexible formative evaluation 1943 feedforward 792 – based manipulator system 1342 forward – feedback control 256 – link transmission 451 – dynamics 1670 – motion 211 – manufacturing 1390 – instantaneous kinematics 31 fiber to the home 1047 – manufacturing system 1303 – kinematics 27, 430, 1010 – part model 783 fiber-optic – looking infrared 1486 – robot 503 – communication 576 – model 348, 349 Index FlexPicker 388 – gyro 572, 696 free flexure-based transmission system fiber-reinforced – floating manipulator 1343 529 – floating robot differential flatness – plastics 411 flight –prepreg 537 1347 – control-unit 623 – modes of joint 21 field – path matrix 1230 – communication 1407 – space voxel 752 – performance analysis 603 – vibration 398 –ofview 1752 floating-base 24, 47 Frénet frame 1161 – robotics 1392, 1453 –system 1669 frequency fielded unmanned aerial vehicle flocking 1279 –converter 571 1484 flow – modulation continuous wave 741 field-emission SEM 652 – feature 786 – shift keying 578 field-programmable gate array 578, – property 596 friction 201, 1008 728, 746, 1358, 1652, 1879 fluid dynamic 596 – cone 884 filtering 821 focus of attention 1752 – Coulomb 884 fine motion planning 862 foliage penetration (FOPEN) 1488 –damper 486 fine-grained categorization 790 food handling 1305 – limit surface 892 finger 1017 foot rotation indicator 1135 – model 1011 –pad 1015 foraging 1279 – modulation 1016 – tip 996 force 954 – stir welding 1307 finite element 1012 – based programming 1703 – calculation 1010 frictional –analysis 402 – ambiguity 887 – method 567, 1191 –closure 856, 1129 – control 1007 – inconsistency 887 finite-state acceptor 280 Froude fireproof coating 1402 – hybrid motion control 193, 207 – position control 208 – model 595 firewall 1046 – reflecting teleoperation 1336 – number 421 first-order predicate logic 319 – reflection 1025, 1420 fuel cell 569 Fisher vector 783 – scaling 1030 full Bayesian model 783 fish-like swimming motion 531 – sensing resistor 677 full-state feedback 252 fixed-point stabilization 1159 –sensor 1689 function approximation 367 fixture – sensor (fs) 435, 1009 functional – and contact 895 – sensor information flow 680 – electric stimulation 1553, 1714 – virtual 1011 – shading 1011 – limitation 1567 flapper sizing 618 – spatial 40 – magnetic resonance imaging flapping – torque sensor 193, 674 1563, 1743, 1922 – dynamics 615 – velocity control 208 – neural stimulation 1552, 1575 – flight 1850 foreground–background funnel 962 – frequency 618 segmentation 784 fused deposition modeling 539 – insect wing 617 forestry robotics 1365 fusing air vehicle 841 – robot 617 forgetting factor 184 fusion primitive 308 703 906 920 571 1488 918 907 1336 903 433 908 435 1415 988 912 993 105 902 1492 917 249, 988 908 1259 1485 917 913 430 251 909 1188 d equilibrium 908 988 1368 453 1198 920 1337 985 906 841 936 902 1305 160 1008 1209 ompensation bounding 903 models 902 c – – planning method – grasp matrix and hand Jacobian – hyperstatic – indeterminate –matrix – model – of a tumbling target – planar force closure test – planar simplification of contact – quasistatic equation – redundant – restraint analysis – rigid body velocity kinematics – Salisbury hand – sequence – velocity kinematics Grassmann geometry gravity – cancellation – dynamics an –example – force closure –formclosure – friction model – frictional form closure – grasp classification –force greenhouse grid filter grid-based model gripper Gröbner bases ground – based augmentation system – conditions – control station – detection – fault monitoring device – moving target indicator – penetrating radar – vehicle – vehicle (GV) group behavior guaranteed recursive adaptive guarded motion guided exploration gyroscope 427 567 1541 90, , 1653, 1916 917 4 280 449 835, 1264, 1466, 1334 400, 1483 1506 910 863 1653 1094, 1566 575 166 909 1893 1214, 756, 906 953, 1226, 1436, 1961 365 910 1442, 988 962 752, 908 904 1557, 831, 1702 1005, 694, 1332 390 868 985 901, 985 967 1211, 1420, 1602, 355 325 1367, 606 670, 791 858, 99, 1180, 1394, 1503, 1895 1212, 592, 807 calization rocessing unit 703, 571, 1084, 1367, 1485, 1278 907 1939 p lo – model – – defective grasp – design considerations – dynamic equation – controllable force and velocity – Coulomb friction model – desirable properties – affordance – compliant grasp – contact model goal-contact relaxation – user interface – user interface (GUI) grasping – motion plan – motion planner – regression – task planning global positioning system goal as parallel programs goal-frame set golgi – cell – tendon organ grapple fixture – uncertainty global navigation satellite system graphical gradient-based win or learn fast grail grammar grand challenge gradient estimator Gough–Stewart platform GPS intelligent buoys GRAB algorithm geostationary Earth orbit glide ratio – conditioning index– 395 geometrical reproduction geon structural description glass-fiber reinforced plastic global – asymptotic stability 94 311 394 1539 1343 310, 128 578 128 1612 1858 966 1508 281 534 1748 517 568 1508 530 420 1344 515, 781 783 868 1564 1189 1752 436 1493 219 534 1752 966 1752 984 1207 829 1743 1306 1484, 1744 472

G 626, 110

– noise generator of modules genetic algorithm gantry gareki model gastrointestinal endoscopy Gator tech smart house – mixture model – process – process clasification – following – mutual gecko – adhesive – adhesive system generative model geographic information system geometric – intersection data – Jacobian – synthesis gait – sensitivity norm galvanic corrosion Gaussian – minimum shift keying Gauss–Markov estimate Gauss–Newton nonlinear estimation gaze – directed – inspired adhesive gender gendered interface general – contact model generalized-inertia ellipsoid fuzzy – logic – system behavior-based – training robot – packet radio service generalized –force – grounding graph – Jacobian matrix – Jacobian matrix (GJM) – least-squares estimate – principal component analysis Index 2206 Index Index 2207

H high data rate digital subscriber line –strategy 1667 1047 – subject experiment 1786 Haar measure 149 high definition 573, 1427, 1606 – surrogate 1648 Hamilton–Jacobi–Bellman 177 high safety goal 1116 human motion data 1674 Hamilton–Jacobi–Isaac 178 high safety wide region 1116 human–computer interaction 1006, hand high tech automotive system 1505 1612, 1742, 1809, 1943 – arm system 1689 high-performance computing 1054 human-inspired robot competition – exoskeleton 1717 high-precision seeding 1371 1621 – eye locomotion 1339 high-resolution radar 1488 human-in-the-loop 1023 handheld standoff mine detection high-resolution transmission electron human–machine system 1415 microscope 652 – cooperative system 1533 handling 1305 high-speed chronometer 740 – interaction 1380 –remote 1412, 1420 high-speed gripper 536 – interface 1483, 1492 Index hands-on cooperative control 1529, highway, automated 1520 humanoid 48, 1645 1536 hinge offset 612 – abstract task specification 1654 handyboard 1938, 1939 histogram 786 – automated motion planning 1654 haptic 1003 – filter 985 – bipedal locomotion 1650 –device 1004, 1017 – intersection kernel 782 – body part 1649 – feedback 1004, 1025, 1540 – of oriented features 967 – carrying of objects 1652 – interaction point 1009 – of oriented gradient 780 – coarse whole-body motion 1653 – interface 1003, 1426 holonomic – dynamic balancing 1655 – loop 1004 – constraint 202 – dynamically stable motion 1654 – paddle 1009 – manipulator 1162 – expressive behavior 1659 – rendering 1004, 1017 home – expressive morphology 1659 – temperature display 1017 – automation 1576 – extension for complex tasks 1657 harmonic drive 83, 240, 1303 – based rehabilitation 1576 – force/moment controller 1651 Harvard micro fly 537 – point 983 – history 1648 haul truck 1436 – surface 983 – human environment 1646 haulage 1436 homogeneous 1268 – human example 1646 Hayati parameter 113 – space 394 – human interaction 1647 hazard avoidance 1341 – transformation 16 – human-like walking 1651 head injury criterion 1685 homography 809 – immitation 1649 head-mounted display 1425 Hooke’s law 1011, 1012 – localization of obstacles 1652 health care monitoring 1576 horizontal brickwork panel 1396 – locomotion 1650 health monitoring 1612 hot zone 1463 – mechanics 1649 –sensor 576 hotel load 570 – morphological communication HeartLander 1539 Hough transform 784, 1307 1659 Heathkit Hero-1 1936 HRI operating system 1753 – motion capture system 1653 heavy payload manipulator 1400 Hubble space telescope 1355 – motion using GUI 1653 helical joint 22 human 1567 – multiple contacts 1657 helicopter-type UAV 614 – arm-like manipulator 218 – navigation among obstacles 1652 Hemisson robot 1937 – body pose estimation 784 – pleasing mirror 1646 Hertzian contact 890 – competition 1620 – pushing of objects 1652 hexamethyldisilazane 639 – control 1004 – realtime walking pattern 1650 hexapod robot 1846, 1859, 1880 – culture 1648 – robot 481, 1668 hidden Markov model 717, 966, – entertainment 1648 – running 1651 1672, 1693, 1824, 1905 –grasping 955 –sensor 1649 hierarchical 1255 –hand 448 – understanding intelligence 1646 – agglomerative clustering 781 – interface 1491 – whole-body activity 1653 – attentive multiple models for – motion segmentation 1672 – whole-body control 1658 execution and recognition 1771 – operator 841, 1013 humanoid communication – communication model 1675 – out of the loop control 1474 – auditory scene analysis 1660 – hidden Markov model 1674 – skeleton model 1669 – developmental robotics 1661 – task network 287, 338 – social response 1773 – expression 1660 166 1389 991 1940 1917 1485, 1452 1047 1490 835, 1278 1167 166 1899, 31 694 1849 32 985 551 621 984 746, 451 824 1771 1685 787, 861 1895 676, 787 1276 1393 325 626, 1012 1415 131 1772 1772 320, 170 1390 641 572 648, ate stability 1957 1343 826 put-to-state stability 291 1938 1941 ently cooperative 833 1593, 1396, nher input-out input-to-st insect-inspired robot insertion task in-site actuation in-situ resource utilization instability instantaneous – allocation – center of curvature – center of rotation – forward kinematics – inverse kinematics instrumental – support –variable instrumented logical sensor system integral control action integrated –chip – circuit – development environment – factory – proximity model – robotized – robotized construction site – services digital network initialization injury measure inner loop – control innovation – detector inherent instability i – ethics – filter informational – support information-gathering grasp infrared –sensor – space inference – Bayesian inferior olive inferotemporal cortex inferring belief infinite impulse response information – and communication technology 1443 946, 571, 1414, 1195, 797 705, 801 1507, 258, 491 412, 117 576 1895 784 573 571, 798 92, 56 1179, 239, 800 1829 281 54 1449, 820 801 985 813, 163 198, 584 1390 1506 995 1246, 495 1349 1876 1351 98, 488 1681 782 786 1301 789 756, 827 1901 193, 796 160 42 516 47 1207 1226, 1809 1351 698, trix a 1968 670, 1212, 1611, 1335, – stereo cameras iMobot impact – dynamics – scenario impedance – control – stability analysis ImageNet imitation – control – cylindrical coordinates – interaction matrix image-based visual servo –gradient –pyramid – navigation system – operational-space – spatial inertial – measurement unit – navigation – navigation system – parameter estimation – controller – matching implicit shape model importance – density – sampling improvised explosive device incremental – evolution – teaching method independent – component analysis – joint control – likelihood pool indexed time table – standard architecture inertia – articulated-body –m indirectly actuated state industrial – description – manipulator – robotics – estimation 311 1460, 1647 207 1660 1799, 944 409, 1024, 193, 1661 1511 1660 1903 1659 1658 1689 1765, 311, 1776 1660 1714 1726 1314 1207 516 747 310 1776 570 122 464 624 310, 1741, 1130 1210 1660 1208 468 1658 1659 1660 996 301, 556 218 1474 1675,

I 854 1660 1474, 1831

identifiability identifier ideomotor principle illumination scenario illustrator cue image – acquisition ICP algorithm – force/motion control – fuel/battery – position/force control – robot –system – system manipulation planning Hybrid III dummy hydrodynamic – damping – modeling hyper-redundant – mechanism – robot – structure – physical interaction – posture – saccade – chain-lattice – dynamics – interpretation of human expression – locus of attention – multimodal perception – smooth pursuit – speech recognition – vergence humanoid motion – multiple contacts – stability humanoid robot project human–robot – augmentation – collaboration – communication – ratio hybrid – assistive limb – behavior-based architecture – interaction Index 2208 Index Index 2209

integrating planning and execution International Symposium of Robotics J 288 Research 3 integration 620, 1283 International Symposium on Micro jackknife effect 1163 intellectual property right 1612 Mechatronics and Human Science Jacobian 31, 47, 71, 162, 851 intelligent 1936 – analytic 219 – assisting device 1730 internet 1049 – condition number 393 – autonomous system 1714 – communication 1034 – dynamically-consistent inverse – multimode transit system 1520 – communications engine 283, 580 47 – wheelchair system 1570 – engineering task force 1508 – ellipsoid 393 – extended 228 intentional 1254 –protocol 1046, 1508 – geometric 219 intention-based model 1753 interoperability 1392, 1405 – loop 59 interaction 954 interpenetration 1012 – agent 1753 –matrix 113, 935, 1010 interphalangeal 1718 Index – control 192 –task 219 interprocess communication 279, – framework 1750 – time-derivative 396 289, 579 – modality 1757 jamming 888 intersection operation 429 – rhythm 1746 Japanese experiment module remote interval – unit 1750 manipulator system 1334 interaction dynamics –algebra 328 jigsaw positioning system 1442 –behavior-based 305–307 –analysis 430 jogging companion 1603 interaction matrix 796 – calculus 829 Johnson Space Center 1776 – approximation 798 – programming 580 joint – direct estimation 803 intrinsic tactile 455 – action 1749, 1785 – image-based visual servo 798 invariance 202, 783 – activity 1753 – pose-based visual servo 804 inverse – architecture for unmanned systems interactive perception 970 – instantaneous kinematics 32 283 interaural – model 348, 349 – attention 1752 – amplitude difference 722 – reinforcement learning 1831 – coordinate frame 48 – time difference 722 – socially assistive robotics 1488 – directors of laboratories 831 interest operator 780 inverse differential kinematics –drivegain 121 interface 848 – least-squares solution 222 – elasticity 241 – contact 889 – weighted damped least-squares – intention theory 1750 – definition language 283 solution 234 – model 48 – parameter 26 –design 514 inverse dynamics 51, 197, 208, – persistent goal 1753 – for demonstration 1825 245, 265 – probability distribution 820 – haptic 1003, 1426 – control 167, 357 interference rejection 726 – reference 1770 inverse kinematics 29, 430, 857, interferometric fiber-optic gyro 572 – torque 119, 1671 1317 interferometric SAR 1488 – torque feedback 252 – algorithm 225 interior finishing robot 1400 – torque sensor 193, 254, 454 – computation 1669 intermediate haptic interaction point joint-space 1010 ionic polymer-metal composite 1011 – control 161 485, 532 internal – inertia matrix 39, 55, 395 – dynamics 247 isomorphic configuration 516 – stiffness matrix 397 –force 937 isotropic configuration 221 – trajectory 180 – friction angle 1353 Istituto Italiano di Tecnologia 1689 jumping microrobot 533 – velocity manipulation ellipsoid i-swarm project in Karlsruhe 1261 just noticeable difference 1005 943 iterated extended Kalman filter 98 just-in-time 1397 International Conference on iterative closest point algorithm 94, Advanced Robotics 3 747, 1092, 1449 K international space station 1027, iterative linear quadratic regulator 1332 502 Kalman filter 97, 129, 625, 823, international submarine engineering iteratively reweighted least square 1070, 1188, 1610 583 100 – unscented 1445 429 1131 670, 1825 1104 1521, 110 418 593 1574 1831 419 741, 525 1827 1824 1205 820 959 599 1846 1304 1684 1147 256 525 1198 408 240 1846 525 493 1471 481, 306 1824 1827 1443 241 1485 1013 1687 1132, 413 1822 1824 1209 1844 240, 1939 1944 1189, anipulator 740, 1607, criterion 887 579 m – walking linear – complementarity problem – constraint satisfaction program – control design – elasticity – impedance – robot – structure likelihood function Likert limb prosthetic device limbed system limit cycle light-emitting diode LIDAR sensor Lie algebra rank condition Lie-group-algebraic method life-cycle-costing life-like robot lift force lifting line method lift-to-drag light detection and ranging lighter-than-air system light-weight – communications and marshalling – – individual motion – reinforced learning from humans – algorithm – correspondence problem – evaluation metric – history – imitate – key issues least squares estimation leg–arm hybrid robot legged crawling legged locomotion – bio-inspired – model – stability and gait legged robot leg–wheel hybrid robot Leonardo Da Vinci level of biomimicry Lewellyn’s absolute stability 1802 1821 636 1486 787 968 487 1278, 250 742 861 745 517 484, 1418 1824 781 1906 1917 617 308 1828 1610 964, 165, 1607 302 1702 1488 943 1417, 308 1257 515 351 1602 787, 1127 241 1516 1472 536 1509 991 1515 1341 92 1415, 184 967 301, 740 1188 789 tecture 484 archi – and adaptation – applied to ground robots – – molding lead lanthanum zirconate titanate lead zirconate titanate leader–follower leading edge vortex learning – tracking layer layered – architecture leaf belief Lagrangian – dynamics – formulation laminar damper module landmine LANdroid lane – changing – keeping Laplacian of Gaussian LaSalle’s theorem laser – distance sensor – imaging radar lawn mowing – measurement system – radar – ranging – slip lattice reconfiguration – scanner laser-based SLAM latent – Dirichlet allocation lateral – geniculate nucleus – intraparietal sulcus – support vector machine – from demonstration – control – control for assembly – feature – from history – in mobile manipulation – by demonstration – compound action – from human demonstration –behavior-based 990 1317 143 320 111 1937 101 749 784 485 857, 388 1011 549 323 320 1932 1010 1871, 1007 116 1036 43 46 324 217 113 121, 430, 220 323 464 113 202, 192, 160 1003 993 1029 242 243 71 48 1654 427, 51, 1014 880 225 29, 889 1858, 516 116 781 1669 39, 39, presentation(KR)

e L

-means clustering -nearest neighbor Koryu robot Kullback–Leibler divergence – terminological – equation – formulation – multiplier Lagrange – dynamics Karel the robot key-poses Khepera Kilobot Kinect kinematic – chain topology – conditioning – constraint – redundancy – singularity – structure –tree kinematic calibration – closed loop – index – open loop – sensor index kinesthetic –display kinetic energy – of motor – recovery system k-mean k – contact – loop kinematic algorithms –inverse kinodynamic planning – coupling – dissimilarity – duality – equation –inverse k –r knowledge – assertional – base update – representation Index 2210 Index Index 2211

– program 915, 1146 logic magnetostrictive 484 – quadratic Gaussian 807 – based reasoning 321 Mahalanobis distance 753, 984 – quadratic regulator 271, 496, 611, – description 321 maintenance robot 1402 1140 – first order predicate 321 manage attention 1757 – temporal logic 328 – propositional 322 maneuverability 606 – variable differential transformer logical sensor system 833 manifold 117 logistic regression 966 – learning 791 linear inverted pendulum model long-baseline 575 – particle filter 988 414 –system 1216 manipulability 1008, 1345 linearization feedback 168, 253 longitudinal stability margin 419 – dynamic 1008 linearizing coordinates 254 long-range cruising AUV 569 – measure 221 line-of-sight 1492 long-term manipulation 449, 470, 680, 847, link 1939 –behavior 1805 848, 953, 981, 1217 Index – equation 243 – depression 1896 – admissible configuration 855 – parameter 26 – interaction 1766, 1779 – cooperative 1280 linkage model – social interaction 1805 – grasp configuration 856 – virtual 945 lookahead 991 – grasp planning 869 liquid-crystal display 289, 1768 loop – inverse kinematics 857 lithium –closure 430 – multiple part 870 – polymer 624 – closure constraint 58 – multiple robot 870 – primary battery 569 – haptic 1004 – nonprehensile 870 livestock loss function 788 – pick-and-place task 854 – breeding 1380 low – planning 145 – exploitation 1381 – Earth orbit 1334 – stable part configuration 856 – harvesting 1381 – level control 1702 – task specification 856 – nurturing 1380 – power consumption 1687 – three DOF manipulator example Llewellyn criterion 1032 – uncertainty 985 856 load low-cost sensor 1594 – transit path 855 – capacity 68 lower – workspace goal 858 – distribution 941 – extremity nonanthropomorphic manipulation aid 1568 – haul-dump 1435 robot 1566 – mobile autonomous system 1569 – parameter 119 – extremity powered exoskeleton – wheelchair manipulator 1569 – sharing coefficient 941 1565 manipulator local –pair 21 – and small-time controllability Lunokhod 1336 – constraint 865 1103 Lyapunov function 249–251 – cooperative 933 – area network 514, 577, 1046, – Jacobian 495 1329, 1492 M – stiffness 396 – autonomy 1027 manmade – learning method 356 Mach model 595 – disaster 1463 – minimum 866 machine –event 1467 – potential function 867 – interface 1491 man-packable UAV 1465 – product-of-exponential 514 – learning 1823 manual – regression 356 – safety standard 1314 – control 1024 – steering method 1105 – tool 439 – flight 621 locality constrained linear coding – vision 1446, 1867 ManuBuild 1392 782 macro arm 1342 manufacturing 1006, 1302 localization 1216, 1265, 1445 macro-micro manipulator 1334 – and positioning 1398 – map-based 1445 magazining 1395 – process 1302 – sound source 311 magnetic resonance imaging 1528, map locomotion 470 1537, 1685 – digital 1507 – mechanism 1598 magnetoencephalography 1563 – geometric 1067 – performance 526 magnetorheological 486, 1426 –grid 1067 1561 1531 580 1556 1903 96 784 1452 852 1310 1592 303 1214 1900 1159 951 1899 1887, 1434 787 959 1333 1460 1571 578 1036 1447, 1452 350 1253, 1486 548 552 551 1434 116 958 1441 1441 1472 1433 1467 1434 1462 1491 1450 1771, 1771, 58, 1440 625 1433, 1447 ed model x system – and manipulation –degreeof – equation – restriction mobility aid – exoskeleton mixture model mobile –basesystem – beacon – detection assessment and response – domestic robotic – manipulation – manipulator – navigation – platform – repeater mobile robot – competition – nonholonomic – telerobotics mobility minimally invasive surgery minimum – description length – mean-square error – shift keying mining –coal – disaster – dragline – ocean floor – open-pit – robotics – shovel –stagesof – surface –system – underground mirror – image motion enabler – image movement enhancer –neuron –neuronsystem –system misconception –behavior-based mission – control system – oriented operating suite mi 867 533, 537 1906 1771 528 483, 1618 814, 1539 647 567 1016 1482 525 1534 1921 404, 1757 716, 485, 1538 1482 1772 1624 1449, 674, 1687 530 1773 579 638 532 536 265, 1783 696, 1390 1895 1741, 1770, 1006 100 1274, 1528 cal flying insect 283, 567 81, 580 1895 675, 1757 518 1275 1850 1742 998, 484 1226, 1342 632, cromechani 528 (MEMS) 1016, 572, 580 526 –arm – robot microcomplex mi mesencephalic locomotor region M-estimator metal – corrosion – matrix composite metrics micro – aerial vehicle microelectromechanical system – robot mental perspective-taking mesencephalic locomotor medial intraparietal sulcus – simulation memory microfabrication mechanization mechanoreception mechatronic robot medial temporal area medical – image segmentation – robot – alloy mental inference – toothless gear –usedforHRI mental model micromouse competition microrobot technology Microsoft robotics developers studio microspine array microsurgery robot microsystem technology microzone middle-size league millibot millimeter/centimeter scale crawler mindreading middleware – for robot mine crawler robot mine-permissible robot minima-free potential function 95, 1488 994, 1399 85, 1340 1403 1270 785, 1339 361, 1341 96, 487 1425 578 1608 994 1895 324, 1898 1668 970 1340 1203 772 1126 1419, 1216, 984 783 263 1776 488 429 517 784 1008 487 516 983 1424 175 1024 756, 983, 1265 otropy

s 781 1491 721, Technology 1304 578 1754 controllable equilibrium position actuator

– passive – synthesis maximally stable extremal region maximum a posteriori material handling robotics maximum likelihood estimate –system master–slave – manipulator mass-spring system – passive marine robotics Markov – decision process – moving object mapping M-blocks McKibben muscle – impedance adjuster – interface – motion capture –i max-pooling mean time between failures mechanism Mary – phase shift keying – quadrature amplitude modulation masonry wall erecting robot mass modal Massachusetts Institute of Mars Pathfinder Mars rover sample return – process – random field Marr–Albus model Mars exploration rover – decision process (MDP) Mars environmental survey mean-shift measurement – and signatures intelligence – model mechanical – adjustable compliance and Index 2212 Index Index 2213

– walking assistance system 1571 moment 606 moving target indicator 1487 – wheelchair navigation system – labeling 885 multiappendage robotic system 403 1570 – representation 597 multiarm system 943 modal momentum multicellular organism 1843 –mass 263 – conservation 596, 1344 multifingered manipulation 938 – stiffness 264 – spatial 41, 42 multifunctional satellite – vectors 398 – theory 600 augmentation system 703 mode 986 monitor 288 multihypothesis tracking 1511 – contact 882 monitoring system 1576 multijoint – identification and recovery 281 monolithic fabrication 538 – bending 531 – shape 470 Monte Carlo method 364, 986 – model 164 model moon buggy 1336 multilateral telerobotics 1037 Moore–Penrose inverse 169 multilevel surface map 757

– based controller 471 Index – based method 346 mossy fiber 1895 multimode transit 1520 –behavioral 1747 motion multipass effect of wheels 1188 – checking 323 – capture 1669 multiphalanx hand exoskeleton – cognitive 1747, 1749 – category 1673 1717 – contact 879 – constraint 849 multiple – developmental 1747 – effect 728 – beam scanning LIDAR 741 – dialog-based 1749 – generation 960 – input–multiple-output 173, 254, – driven engineering 293 – human-like style 1667 610, 1237 – environmental 91 – instability 621 – kernel learning 783 – primitive 1673 – layered composite 538 – learning 1756 – requirement 961 – master multiple-slave 1037 – of emotion 1768 – transmission 449 – master single-slave 1037 – physical 1749 – whole-body 1144 – material 536 – predictive control 349, 622, 1137, motion control 160, 1157, 1317 – model switching adaptive estimator 1236 – performance 1188 271 – property 1210 motion execution – operator multiple robot 1044 – reference adaptive control 176, – compliant 865 – operator single robot 1044 349 motion planning 470, 961, 1141 – paired forward-inverse model – uncertainty 369, 1192 – compliant 862 1897 model learning 348 – feedback 866 – reflection 717 – architecture 351 – feedback motion planning 866 – resource host architecture 1492 – method 354 – problem 434 – underwater vehicle 1219 modeling 606, 1205 motion-oriented operating system – view registration 753 – actuator 487 1214 multipulse sonar 726 – biological system 1844 motivated behavioral architecture multipurpose system 1843 – deformable terrain 1188 311 multiresolution mapping 970 – first-order form closure 914 motor multirobot 1254, 1281 – of locomotion 472 – equation 243 – coordination 281 – rubble 1189 – evoked potential 1904 – path planning 1281 – soft robot 490 – feedback 249 –system 304, 514 – tracked vehicle 1195 –neuron 1671 – system behavior-based 305–307 modular mouse 1004 –task 1276 –block 1395 move value estimation for robot – task allocation 1276 – manipulator 513 teams 310 multisensor – mining system 1436 movement therapy 1558 –datafusion 819 – robot configuration 514 moving observation – environment modeling 835 modularity 1395 – of a corner 729 – fusion architecture 831 modulation friction 1016 –ofaplane 729 – gripper 1334 modulation-based range sensor 741 – of an edge 730 – system control dynamic 835 molecular biology 1006 moving plate 400 multistep planning 990 molten carbonate fuel cell 569 moving plate (MP) 389 multitarget observation 1281 970 1012 464 331 126 1921 1965 339 1421 111, 779 1313 996 1775 1744 549 1421 852 1189 786 283 1915, 1280 1013 991 1012 982 1917 851, 321 1025 786 1197 1412, 789 1919 221 1744 1212 791 1752 cial o O 581 (NESM) 1377 non-RT thread (real-time thread) nonslip condition nontangential proper part nonuniform rational B-spline nonverbal – communication –cue norm – communication –s – class detection – class recognition – detection – identity resolution – learning – localization –part – recognition – reorientation – representation Oberon object – anchoring normal distributions transform normal vector normalized energy stability margin normalized ESM nuclear – decommissioning – magnetic resonance – operation – radiation null-space – projection – velocity numerical control nursery and greenhouse (N&G) nurturing 1380 Nyquist criteria – request broker – shape matching – transportation objectness Oblix/Mogura mechanism observability index 412 879, 1347 1866, 1849 1879 1265 1871 1553 1346 787 1888 1916 985 488 611 1858, 248 1472 572 1844 1860 431 177 1335 1852 488 1872 1574 789, 1159 1258 1673 1344 1887 , 117 1128 515 1888 1259, 1894 1102 431 1477 254 143 44, 1253 1861 1258, 789 eural oscillator 1895 896 exercises 283 1867 n -gram model nonnegative matrix factorization nonneural element nonparametric method nonprehensile manipulation – planning nonholonomy nonlinear – dynamic inversion – feedback – force function – mechanical system – optimal control – optimization convergence nonminimum-phase nonholonomic – constraint – mobile robot – programming problem nonmaxima suppression nonaccidental property noncontact therapy robot nonacoustic sensor – formulation Newton–Raphson – algorithm N nickel metal hydride battery NIST response robot evaluation – recurrent neural network neurorobotics neutral buoyancy Newton–Euler – equation – spiking neural network neurocontrol neuroethology neuron neuroprosthetics neurobiological system neuromorphic engineering – network data distribution service networked – infomechanical systems – mobile robot – robot neural interface neural network –GasNet 633 1570 1531 1671 1115 503 1567 283 1633 651 1537 1670, 398 1849 704 985 1197 1267 1890 260, 1445, 1445 485 1267 1786 1757 781 199, 205 1276 1255 756, 1508 867 1380 1463 1276 1005 1671 482 281 1671 1048 576

N model scheme 704 1112 1720

naive Bayes nanoelectromechanical system nanorobotic manipulator NASA/NBS standard reference national livestock identification national qualifying event national robotics initiative nationwide different GPS system natural – constraint – disaster – frequency – human cue – machine motion initiative –muscle – orifice transluminal surgery navigation – function – in rat and robot multitask multitracked vehicle – and obstacle avoidance help – underground muscle – length nearness diagram navigation nearness diagram navigation (ND) needle placement robot negative information –server – topology control – like module – spindle –tension musculoskeletal model musculoskeletal walking model mutual belief negotiation Nerd Herd Nereus network – data distribution service – mobility – partitioning – real-time kinematic Index 2214 Index Index 2215

observation – control software 292, 580 overfitting 789 –classROV 571 – controller computer aided design over-the-horizon 1492 – update 821 279, 282 Oxford intelligent machine 1555 obstacle 758 operating –region 136 – point 392 P obstacle avoidance 470 –system 1046 – path modification 867 operational packaging line 1305 – problem 1111 – frame 850 packet switching 1046 obstacle restriction method 1113 – point 850 paddle obstacle restriction method (ORM) – therapy robot 1552 – haptic 1009 1111 operational space trajectory 180 painting 1312, 1402 operational-space 45 occupancy grid map 993 – robot 1312 – control 162, 358 occupancy map 970 palm tree spraying 1374 Index – inertia matrix 39, 56 oceanic engineering 1203 pan–tilt unit 289, 1440 operator octarm manipulator 467 pantograph 409 – control unit 284 octopod 439 parallel – model 348 octopus-arm 466 –fiber 1895 optic flow 1871, 1889 – force/position control 193, 211 odometry 756, 1337, 1450 optical offline programming 1308 – kinematic machine 400, 1303 – coherence tomography 1530 – manipulator 427 off-policy method 362 – microscope 637 – manipulator calibration 115 off-read locomotion 1338 – microscope (OM) 652 – mechanism 12 off-road vehicle 1190 – motion capture 1668 – robot 73, 122, 427, 1303 offsite robotics 1395 – quadrature encoder 1008 – tracking and mapping 1092 olive 1895 – underwater communication 579 parameter omnidirectional optimal – drift 177 – camera 92 – arbitrary time-delay 266 – estimate 173 – robot with steerable wheel 555 – control 500 – inertial estimation 117 omnimobile robot 554 – coverage path planning 1369 parameterization of track 1195 on board unit 1508 –design 436 parametric on real-time communication 1471 – task assignment 1437 –bias 1903 onboard autonomous science optimization 1008 –design 430 investigation system 282 optokinetic response 1659 –force 607 onboard integration 623 orbital replacement unit 1333, 1335 orbital replacement unit (ORU) – model 607 onboard power source 569 parking assistance 1515 one-step lookahead 989 1333 orchard 1367 part-based model 780 one-way bearing 533 partially observable Markov decision online ordinary differential – equation 488, 1137, 1208 process 326, 963, 989, 1756, – gravity compensation 251 – inclusion 1128 1829 – programming 1317 orientation 13 partial-order planning 338 onsite robotics 1399 – absolute 939 particle 986 on-the-fly target classification 726 – quaternion 1198 – filter 988, 1610 ontological category 1744 – relative 939 PASCAL visual object class 789 ontology 323 oriented gradient 786 passenger protection 1518 – based unified robot knowledge ornithopter 617 passive 334 orthopaedic surgical robot 1536 – action recognition 1257 open Oswald – compliance 860 – agent architecture 1754 – coefficient 1231 – dynamic walker 1860 – dynamics engine 580 – efficiency 599 – dynamic walking 412, 1126, – platform for robotic service 580 out of field 1752 1147 – roboethics initiative 1972 outer – gripper 534 open robot – loop control 168 – mapping 175 – control architecture 580 – poles 170 – mechanism 1424 636, 1011 1810 803 1937 484, 180 569 992, 1199 283 1035 804 1031 485 485 804 567 567, 538 1196 984, 790 255 326 1506 904 1752 749 1752 754 750 993, 992 1247 939 365 985 939 534 538 796 1271 1092 484 464 1600 784 715 stem y 500 675, point cloud – library point feature – histogram point-contact pointing – declarative – imperative point-to-point (PTP) pole placement policy gradient – reinforcement learning – theorem policy iteration polygonal mesh polymer – electrolyte fuel cell – matrix composite –MEMS polymeric actuator poly-mesh polynomial trajectory polyoxymethylene polypod – robot –s polytope 396 polyvinyl chloride polyvinylidene fluoride Pontryagin’s minimum principle pool cleaning – robot pop-up book – inspired design –MEMS port-based approach pose – estimation – normalization – tracking pose-based visual servo – control – interaction matrix – stability analysis poselet position – absolute – control of subtrack – force architecture – localization – observer – relative 857 854 1768 307, 467 870 40 136 93 305, 240 180 1452 467 870 1147 20, 854 862 302 639 335 1697 962 483 1016 784 304, 143 1870 113 854 857 338 953 512 300– 1126, 1375 847, 715, 481 95 1307, 144 24 887 866 1339 483 539 483 484 991 1869, 328 890 287, 288 anipulation m 279 311 – of interest – measurement point –algebra – contact – estimation – under uncertainty plant probing pleasure arousal dominance – nonholonomic – self-collision – trajectory Plücker coordinates – McKibben muscle –network Poincaré map – movable obstacles plug-and-play pneumatic – actuator – artificial muscle – continuum manipulator – interaction – vapor deposition physically collocation piano mover’s problem pin in hole pick-and-place manipulation pictorial structure piecewise polynomial – actuator pinhole camera model planar joint piezoelectric pipe clamp place cell plan – execution interchange language – partial-order plan-based control planetary exploration planner planning placing object – and control –behavior-based – horizon – – for hybrid system – feedback – closed kinematic chain – configuration space obstacle 644 1031 1750 1262 993 1642, 1904 576, 1034 1045 569 1772 175 969, 1193 992, 1013, 559 1007 1486 1194 334 1511 280 311, 998 248, 1750, 578 1162, 1848 473 784 169 1249 1773 299, 1118 210, 329 1034 1159, 205 179 89, 1034 888 435 390 497 1302 624, 487 90 497 175, 1752 1486 1208 1752 620 1266 848 179 onal roving presence s

1679

– stiffness – suspension dynamics passivity – set-position modulation Phoenix – spatial –visual Petri net transducer Phantom haptic device phase shift keying phosphoric acid fuel cell physical –damper – embodiment – human–robot interaction perspective taking – consistency – deformation – following path – planning – based control – controller – observer patchwork of primitives – following algorithm Pathfinder pattern generator payload – delivery –sensor pedestrian detection peg-in-hole – problem –task PEIS Ecology project pattern-based mixed-initiative people detection perception – active – for action control theory – for off-road robotics – process – via-manipulation periodic motion – control – tracking peripheral – component interconnect peristaltic waves persistency of excitation per Index 2216 Index Index 2217

– sensing device 678 – contact 860 prosthetics 1006 – velocity 164 – sonar 710 – and orthotic 1554 positional dilution of precision 702 prioritized task behavior 851 protected cultivation system 1368 positioning accuracy 1308 prismatic joint 22, 76, 993 proton exchange fuel cell 569 position–position architecture 1030 probabilistic providing informational 1772 position-sensitive-device 1607 – graphical model 787 proxemic behavior 1745 positive photoresist 639 –grid 821 proximity positron emission tomography – latent semantic analysis 781, 998 – awareness technology 1443 1528, 1965 – method 819 – detection technology 1443 possible – roadmap 328, 961 – measurement model 984 – failure 1218 – roadmap method 138, 1105 –sensor 1607 – injury 1685 – roadmap method (PRM) 138 pseudo-amplitude scan 719

posterior probability distribution 820 pseudo-amplitude scan (PAS) 720, Index – distribution 983 procedural reasoning system 281 721 – inferotemporal cortex 1918 procrustes 767 pseudo-inertia matrix 162 pot handling 1377 product modularity 512 pseudoinverse 202 potential production monitoring 1437 – Jacobian matrix 222 – damping 1208 professional vocational assistive pseudolites 1442 –field 1890 robot 1568 pseudo-random noise 704 – field method 1112 programmable psychophysics 1005 – function 285, 866 – construction machine 1394 pulleys 1009 power – intelligent computer 1871 pulse-width modulation 1235, 1374 – consumption 1406 – logic controller 1302, 1308 Puma robot 389 – data grapple fixture 1333 – logic device 1879 puncture 1015 – loading 594 – universal machine for assembly pure rolling condition 549 – scaling 1030 1306, 1438 Purkinje cell 1895 – source 647 programming pushing manipulation 889 – supply 620 – architecture 277 push-up approach 1404 –system 569 – by demonstration 1821 pyramid matching 782 power-law equation 890, 895 – environment 277 pyramidal effect 397 power-to-weight ratio 1009 – language 287 precise positioning system 700 – tool 277 Q precision projected gradient method 227 –forestry 1378 projection matrix 204, 207, 743 QR decomposition 123, 1090 – irrigation 1372 projective space 149 quadratic predator and prey 1876 propeller – optimal control 177 prediction step 821 –force 613 – programming 1146, 1655 predictive graphic display 1334 – mechanical design 612 quadrature prefabrication 1389 proportional–derivative 162, 194, – amplitude modulation 578 prefrontal cortex 1899, 1917 248, 350, 417, 933, 1031, 1143, – phase shift keying 578 preimage 862 1235 quadro-copter 613 prespective-n-point 765 – control 162, 248 quality pressure proportional–integral–derivative 9, – of life technology 1781 – distribution 891 159, 257, 284, 411, 643, 865, – of product 1594 – hull 566 1199, 1374, 1896 – of service 292, 1046 –sensor 573 – control 159, 257 – transmission 393 – sinkage equation 1190 – gain tuning 166 quantization 1013 – vessel 566 – linear tuning 166 quarter car model 559 pretectum 1890 – square tuning 166 quasistatic principal propositional integral 163 – assumption 887 –behavior-based 302 proprioception 89 – constrained 1682 – component analysis 749, 1694, propulsion 610 – motion 1126, 1135 1895 –load 570 – telerobotics 1049 51 227 738 1557 346, 39, 1691 1673 958 143 306, 1903 93, 1848 331 1254 820 941 857 48 1750 306 957, 1420 242 1701 1775 395, 1351 391 1006 179 958 1752 217 409, 1821 179 389 789 161 173 247 1554 161 281 12 1338, 1771 1700, forcement learning n 367, 577 228 recurrent neural network – with parametric bias recursive – form of Bayes’ rule – Newton–Euler algorithm –behavior-based red–green–blue–depth reduced instruction set computer reduced-order model reduction ratio redundancy – kinematic – of mobile manipulator – resolution – resolution via optimization – resolution via task augmentation redundant – manipulator – robotreference 395 – frame – model – resolution reference trajectory – generation – planning referential – communication – focus reflection force reflex reaction reflex-based approach region – connection calculus – of inevitable collision – proposal regional – architecture – structure registered reflectance image regolith regressor –matrix regular numbering regulation – control regulatory cue rehabilitation – robotic – therapy and training robot rei 513 1442 1667 513 1345 1921 1370, 517 833 1850 868 639 1485 1012 320 1771 1347 1180, 1005 332 304 280 281, 1916 rveillance, and 1469 302 952 324 1271 789 581, 320 704, 283 1345, 320 1335 320 1259 319 203 289 575 299– 278, 368 300 282 292 581 1904 e onstructed motion data 1667 target acquisition 704 tim c – reconstruction of human motion rectangle algebra reaction – null-space receding mating feature receiver – autonomous integrity monitor – operating curve receptive field reciprocity recognition – by-component reconfigurable – modular manipulator system – robotic system workcell reconfigure reconnaissance, su – query answering – symbolic – of complex movement recognizing action reactor building real-time – control system – innovation – kinematics – prediction – probabilistic re – obstacle avoidance reactive-ion etching – space link – thread – toolkit – tracking –behavior-based – diagnosis – envisioning reactionless manipulation reactive – action package –system –system real-world – desert environment – environment – interface reasoning –sample 139, 1045, 700 139 142 92, 1540 1824 1476 1938 748 1207 1652 1487 748 94, 1206 1469 1612 403, 577 539 1609, 1593 741 145 1917 718 1047, 1935 790 149, 199 746 576 1506, 92, 764 1654 15, 827 1512 738 739 1016, 695 738 782 1593 737 1462, 1444 1105,

R 961, handler 537 1445,

– frequency identification – frequency radiological survey random – access memory – access memory system –forest – loop generator –walk randomization randomized potential field rate gyro ratio damping – distortion radiation contamination radiation-induced force radio – communication – control – measure – motion pattern – sample consensus range –data – gated intensity rapidly exploring random tree quest for curiosity radar radial – basis function – basis function network –image – information – scanner –sensing ranging module ranging sonar RANSAC algorithm rapid prototyping rapidly adapting lane position rapidly exploring dense tree quaternion quasi-two-dimensional laminate quasi-zenith satellite system Index 2218 Index Index 2219

– method 361 –size 1462 – architecture 277, 388 –variants 1831 –task 1461 – assistant 1680 reinforcement manufacturing 1398 – taxonomy 1462 –behavior 1742 relational – types of 1462 – behavior toolkit 1750 – artifact 1779, 1781 resilience 481 – classification 593 – language 321 resistance temperature devices 676 – cockroach inspired 525 – Markov decision processes 994 resolve ambiguous referent 1772 – communication 278 – model 994 resolved momentum control 1655 – companion 1779 relative resource management 580 – configuration variable 550 – bundle adjustment 1093 responsible conduct of research – construction system for computer –degree 253 1971 integrated construction 1400 – orientation 939 retraction method 141 – control 300, 1472 remote retro-reflective marker 1668 – controller 1313, 1938 Index – actuation 451 return element 452 –design 1743 – agent 281 revolute joint 21, 76, 993 – design process 388 – center of compliance 192, 195, revolving rotor blade 601 – experiment 1334 860 Rex 280 – failure 1476 – center of motion 1531, 1537 rhythmic entrainment 1746 – four wheel 555 – control 1023, 1444 ridge regression 966 –hand 447 – handling 1412, 1420 Riemannian – insect-inspired 1849, 1850 – operations centre 1440 –curvature 395 – interaction 1831 – presence virtual 1605 –manifold 392 – interface design 1567 – procedure call 283 rig control system 1440 – interior finishing 1400 –sensing 624, 1248 rigid – language 1317 remotely – body displacement 468 – learning 1667 – operated underwater vehicle 1452 – body dynamic 607 – leg–arm hybrid 419 – operated vehicle 565, 1204, 1412, – body model 47 – life-like 525 1466, 1935 – environment 201 – locomotion 548 remotely operated robot 998 – hull inflatable boat 1485 –microsurgery 1538 rendering 788, 1011 – link model 471 – mobility 551 – haptic 1004, 1017 – link transmission 451 – operating system 293, 580, 1055 rendezvous/docking 1334 – motion 514 – oriented design 1395 repeatability 232 – object 791, 992 – platform 1936 repetitive motion 184 – terrain 556 – posture 388 representation – wheel 556 – soccer 1622 –behavior-based 302 ring laser gyroscope 572 – socially assistive 1800 – singularity 220 ring sonar 727 –software 579 rescue 624 RiverNet 1261 – standards 1477 – adaptive shoring task 1462 road – surgical 1532 – extrication and evacuation of –block 1557 – team coordination 1475 casualties task 1462 – maintenance robot 1402 – technology 580 – in-situ medical assessment and – scene understanding 1508 – test bed 1477 intervention task 1462 – side unit 1508 – topology 388 – logistics support task 1462 – sign detection 1510 – tournament 1931 – reconnaissance and mapping task RoboCup 1934 – workcell 513, 1302 1461 – competition 1622 robot learning – rubble removal 1462 – humanoid league 1625 – approach 346 – search 1461 – rescue league 1460 –mainbranch 346 – structural inspection 1462 – rescue simulation project 1476 robot-animal team 1475 – surrogate 1462 – simulation league 1622 robot-assisted play 1784 rescue robot 1470, 1471, 1619 Robodoc surgical robot 1531 robot-ground contact 1195 – evaluation 1478 Robonaut 460, 1355, 1772 robotic 1435 – modalities 1462 robot 553, 1952 – agent 1801 – physical test bed 1477 – application 1305 – arm large and flexible 268 652 637 636, 1306 679 1406 515 633, 1006 636, 391 1303, 1495 1672 17 467 651 470 1249 1204 387, 1771 1033 1283 569 791 539 203 1962 1119 1607 624 234, 701 218, 391 593 1255, 618 1902 1009 288 1937 429 789 987 1197 594 1878 781, and rescue 750, 637 240 (SCARA) eaperch – tunneling microscopy SCARA standard task scattering theory scene – depth image – understanding scheduler Schönflies – motion – subgroup science fiction scientific visualization screw transformation S scale effect scaled vehicle scale-invariant feature transform scaling –analysis –law –series scan matching scanning – electron microscope – electron microscope (SEM) – near-field optical microscopy – probe microscope – search self – guided connector system self-as-simulator self-configurable system – laser sintering – robot seawater battery section space security identification segmentation method segmented backbone selection matrix selective – availability – compliance assembly robot arm – compliance assembly robot arm search saturation SAUVIM project s-bot scalability 703 600 1631 334 1598 136 1577 196 984 1610 1189 195, 1533, 501 1332 1404 612 568 1376 127, 24 1697 1850 1599 1892 98 1187, 83 758 1531– 1440 594, 612 611 550 1700 893 613 1335 757 1013 16 13 1698 1046 986 1670 1443, 1332 S 1646 – navigation – outdoor round-trip route network definition file routing rover run-of-mine rough terrain – modeling rotorcraft – dynamics roof field factory rotor – and propeller performance rotor force rolling – condition – contact joint – locomotion room positioning system root – joint – mean square –matrix –simple rotational stiffness rose harvesting Rossum’s Universal Robots (R.U.R.) rotary vector rotary-wing rotation – center of safety sacrificial anode safe – brachistochrone – motion unit –curve –evaluator – mechanism saliency map sample – based filter – measurement model sampling – based motion planning satellite-based augmentation satisfiabiliy modulo theory satellite servicing 1448 1565 1260 1448 100 18 1603 1333 1446 1404 1597 1592 279 1603 1404 984 1603 1563, 1188 1395 1602 1601 1618 1843 1449 1438, 972 1566 1440 1395 1404 1449 956 1437 1438 1446 1562, 1435 616 1338 481 967 1439 1898 450 1603 1238 1403 955 531 1205 ontrol

1027 1335 c

– mode – vacuum cleaner – vehicle – window cleaner –behavior-based – component verification on ISS – components verification on the ISS – construction –grasping – perception robustness to failures rockbreaker rocker-bogie – chassis – configuration – – sports companion –therapy robotic workstation robotics – and biology robust – estimation method – feature Rodrigues angle Rodrigues’ equation roll – assembly – baseball player – control –crane – deconstruction – digging – dozing – excavation – explosive charging – explosive charging system –fin – finger –hand –haulage –lawnmower – loading – mapping – movement – pool cleaner – recycling – roof field factory – running coach – coach – competition – exploration Index 2220 Index Index 2221

self-excited tripodal dynamic robot sequential simple 418 – manipulation 968 – ranging module ring 727 self-organization 1844 – Monte Carlo 827 – temporal problem 330 self-posture changeability 995 – quadratic programming 1346 simplified aerodynamics 613 self-reconfigurable modular robot serial simulated annealing 515 515 –chain 12 simulation self-reconfigurable robotics 1851 – kinematic machines 1305 – and active interfaces 1675 semantic – link 531 – and reality 1861, 1869 –map 1748 – robot 72 – and reality agent–environment – natural language 1748 serial digital interface 573 relation 1862 –part 785 – and reality minimal 1860, 1862 series semiactive suspension dynamics – and reality physics-based 1860 – elastic actuator 240 561 – based optimization 357 series elastic actuator 83, 416, 486, Index semiautonomous navigation 1339 – experiment 989 960, 1565, 1680, 1720 semi–fuel cable 571 – theory 1752 serpentine semiglobal simultaneous localization and – asymptotic stability 166 – motion 527 mapping (SLAM) 313, 622, 727, – matching 1358 – robot 1470 753, 768, 1070, 1188, 1212, 1246, – uniform ultimate boundedness Serret–Frenet frame 468 1379, 1443, 1472, 1507, 1597, 166 service robotics 1403 1608 sense-plan-act 279 servo dynamic 605 single sensing 89, 1407 seven-revolute 395 – acting actuator 452 – active 865 shading –chipflashLIDAR 742 – and motion 982 –force 1011 – electron transistor 654, 655 – and obstacle avoidance 1607 shape – input single-output 163, 610, –graph 1263 – deposition manufacturing 536, 1216, 1237 – vibration 1014 954 – operator multiple robot 1044 sensor 302, 454, 674, 1008, 1473 – memory alloy 81, 484, 526, 646, – operator single robot 1044 – classification 92 1016, 1271, 1539 – port laparoscopy 1531 – contact 676 – memory polymer 484 single task robot 1393 –depth 1212 – model 784 single-master multiple-slave 1037 – depth resolution 739 – primitive 992 single-phalanx hand exoskeleton –force 1009 – reconstruction 992 1717 –fusion 1506 shared single-robot task 1276 – fusion effect 832 – attention 1770, 1786 singular –LIDAR 1198 – autonomy 1334 – configuration 220, 1008 –low-cost 1594 – control 1028 – perturbation control 258 – model 820 – goal 1749 – perturbation model 244 –network 1258 –region 223 – representation 1749 – position 454 –value 220 short baseline 575, 1216 –system 1211 – value decomposition 220, 359, short history 1554 – tactile 92 748, 766, 1345 short-period mode 1239 – velocity 454 singularity 428, 432 sensor-based shuttle remote manipulator system – avoidance 223 – control 1181 1332 – kinematic 220 – method 1189 side – representation 220 sensorimotor control 982 –force 1192 – robustness 222 sensorized environment for life – slip 1188 sinusoidal locomotion 528 1612 signal situated sensory – intelligence 1487 – human–robot dialogue 1750 – motor coordination 1849 – phase and timing 1508 – interaction 1750 – motor loop 1844 signal-to-noise ratio 741, 1497 – learning 1750 – substitution 1015 Signorini graph 1130 – robotics 300, 313 separation sound source 311 similarity transformation 399 situation awareness 1474 283 861 1485 574 1422 567 1092 44 782 62 421 1754 1052 716 39, 714 1335 1333 161 1332 311 1426 1751 1027 311 995 1748 1748 1025 574 1748 574 574 311 1453 783 1748 782 549 389 1903 23 1010 1006 purpose dexterous al 1485 manipulator 1333 specification language for ICE speech – recognition speed of sound spherical – joint – shaped pressure vessel – wheel –wrist specific resistance – robotics – station remote manipulator system – sweeping space based space surveillance Space Shuttle spallation neutron source sparse – coding – surface adjustment spatial – cognition – discourse – dynamic voting – language – operator algebra – pooling – pyramid matching – reasoning agent – referencing – relation – remote center compliance – vector notation speci – application – based space surveillance – joint – joint control – operation – qualification – profiling – reflector model – scanning – side scan – single-beam directional sound source – localization – separation – tracking space 574 1192 574 1812 1265 1812 1783 728 1770 569 1782 1766 1048 1743 500 574 1188 1808 1337 718 500 712 293 579 1766, 538 282 ssembly system 885 574 721 1799 293 710 1811 1773 574 481 483, 539 1774 890 536 1212 482 1742 1813 905 1773 1742, 1643, 92, enetrometer 1395 1553, p 1806 –MLETOF – multibeam – imaging – interferometric – picton model – principles – dual frequency technology – beam pattern – double refresh rate – dual frequency imaging sonar solid material a solid oxide fuel cell – ethics – rehabilitation socially intelligent socio-affective touch socio-cognitive skill socio-cultural cue soft – actuator – contact – finger – finger (SF) – component – development kit – for distributed robotics – product line – variability soil – contact model – stimulus – touch sociality socially assistive robotics (SAR) – Alzheimer’s dementia – eldercare – gripper soft robot –design – optimal control software – architecture – parameter identification – – robot – support – autism spectrum disorder therapy – cognitive rehabilitation – lithography – robotics 936, 1598 37, 1158 537 1680 861, 20, 246 1768 1092 221 8, 532 772, 561 465 600 1670 1623 532 1275 1766 1193 786 1669 750, 1208 1766 1771 1352 1782 1470 1573 391 467 527 1744 1773 1801 1307, 1744 1573 607, 1576 603, 1015 1015 1188 1611 1352 463, 438 1449 1191, 1282 1471 1449 1029, 391, e robot 1015 abl

984, 212,

soccer soci – robot –display smoothness requirement snake – arm robot – like robot – compensation – ratio slippage slipstream control small – and lightweight mechanism – and medium enterprises – unmanned ground vehicle smallest singular value small-size league smart – composite microstructure – home – nursing – orthosis – prosthesis – soft composite smoothing and mapping slip – angle small-scale jumping – tool sky-hook controller SLAM –3-D sliding window – friction – stretch six-dimensional (6-D) – robot six-revolute skeleton model skin – drive mechanism social –behavior – cognition – cognitive skill – emotional intelligence – entropy metric – influence – interaction – judgment – referencing Index 2222 Index Index 2223

spinal cord –margin 610 suction cup 530 –andmuscle 1895 – sinkage 1352 summative evaluation 1943 – injury 1554 – stability 607 superadditive 1267 spine-based gripper 534 statics 435 superior spiral-dive mode 1238 statistical pattern recognition 997 – colliculus 1890 spline 993 steady hand robot 1538 – temporal sulcus 1899, 1921 spoken dialog system 1750 steerability super-ordinate category 779 sports robotics 1603 –degreeof 552 superpixel 789 spray-painting robot 1312 steering/driving maneuver superquadric 992 spring 195 1193–1195 supervisory control 1024, 1428 – function 493 step–up/down transformer 571 support – loaded inverted pendulum 415, stereo 743 – pattern 419 1847 – image geometry 743 – polygon 419, 1132, 1197 Index – virtual 1011 – vision 742, 1341, 1608 – vector machine 782, 995 spring stiffness 488 stereolithography 539 – vector regression 356 – function 494 Stewart platform 428 supportive interaction 1681 stability 1010 stiffness 435, 1011 surface –analysis 1189 – active 196, 197 –display 1016 – augmentation system 610 – adaptation 497 – friction 995 – criterion 1197 – adjuster 491 – normal 790, 984 – evaluation 1199 – center of 195 – power system 571 – input-output 1135 – contact 895 –texture 995 –margin 419, 1135 – control 193, 495 surgeon extender robot 1537 – metastability 1134 – estimation 492, 995 surgical – robust 1134 –matrix 195, 396 – assistance 1531 – stochastic 1134 – modal 264 – assistance system 1529 – vehicle 1423 – observer 493 – CAD/CAM 1529 stabilization – translational 195 – registration 1534 – of fixed points 1159 stigmergy 1257, 1258 – robot 1532, 1540 – of trajectories 1159 stochastic gradient descent 1092 – robotics 1006 – practical 1172 stop-and-go 1515 – simulation 1012 – trajectory 1159 strap down IMU 1246 – support robot 1531 stable contact 1012 strawberry harvesting 1376 surveillance 624, 1249 staged evolution 1859 straw-man task 399 surveying 1443 standard stream-oriented messaging surveyor lunar rover vehicle 1339 – development kit 1007 architecture 579 swarm 518, 1255, 1475 – deviation 719 strictly proper 175 SWARM-BOT 1269, 1878 – end effector 1332 strip theory 1208 Swedish wheel 549 – platform 1622 structural swimming mechanism 1851 – POMDP model 1756 –analysis 567 symbol grounding 321 – position system 700 – connection system 1405 – problem 1748 Stanford arm 1303 – damping 260 symbolic star-model 787 – inspection 1469 – planning 285 state – synthesis 436 – task planning 992 – action-reward-state-action 364 structure from motion (SFM) 746, symmetric formulation 936 – contact identification 864 753, 1093 synaptic plasticity 1848 – display cue 1776 structured output prediction 788 synchronous-drive robot 554 – estimation 621 structured-light distance sensor synergy synthesis 1137 – observer 258 1607 synthetic aperture –oftheart 954, 1576 subordinate category 779 – radar 833, 1485 – space model 263 subsea system 571 – sonar 574 static substitute circle concept 558 system 1891 – feedback linearization 253 subsumption 279 –behavior-based 299 –gait 409 – architecture 832 –chain 516 38, 573, 784, 1375 20, 1335 1351 1276 , 530, 763, 984, 1111, 1339, 1487, 1691, 1968 4 455 419 740, 565 1017 1188, 1400 456, 737, 959, 1729 740 1093, 1305, 1482, 1668, 1914, 1216 739, 1415 1190 1566 1607 788 556, 756 437, 716, 917, 282 456 996 454 572 572 , 710, 1598 1081, 1242, 1438, 1649, 1860, 575 1189 466 280 391, 696, 895 1017 1341 821 ent robot 676 1191 740 1213 1025 1687 571 1051, 1189, 1417, 1608, 1802, 136, 641, 860, ormal distributions transform 113, 596, 833, 1011, 1127, 1392, 1510, 1768, n 1449 – robot – transmission tension sensor tension-differential type tensor arm terrain – aided navigation – classification – hazard – mapping terramechanics – based approach – model test action pair tether – cable – management system – mechanism tethered walking robots therapy approach thermal – conductivity –display – neutron detector –sensor thermoelectric cooler three tiers three-dimensional (3-D) – representation thruster – Kort nozzle – Rice nozzle tile placem time – delay – domain passivity control – of arrival – update time-base generator time-extended assignment time-of-flight – direct – distance sensor – laser-based direct – 1766 1552 1043, 1411 1426, 1027 1472 329 1606 579 454 1402 1892 1015 1024, 1332 1424– 1394, 1445, 127 1953 1575, 1537 1024 1307 1605 162 1686 1828 abilitation 324 939 1004, 289, 1335, 1421, 1010 1036, 721, 1890 1486, 1026, 1405 1043 1661 f reh 1426 968 1394 1605 786 1687 413 o 348 1604 338 1890 1413– 1891 onstraint satisfaction problem 1394, 1471 control 1421 329 c taxon – affordance model – space – space control – variable scaling task space – cooperative – retrieval using inverse optimal taxonomy teaching force technical – committee – problem – specification technology tectum tegmentum tele-care telemanipulation teleoperated – robotic excavation – teamwork with robot partner – small emplacement excavator –system teleoperation – logic tendon tension sensor tendon-based –design telesensor programming television template – matching – model temporal – action logic – constraint satisfaction telerobotics telesurgery telesurveillance –display – tactile display for teleoperator teleo-reactive executive teleorobot – robot telerobotic servicer telepresence 1783 680 282 610 218 331 1318 982 1593 997 1750 1753 673 1016 286 278 1119 230 1004 811 515 983 582 1407 1316 1320 1782 455, 850 1276 626 853 91 1700 219 516 230 1017 673, 1014 301 92, 1743 993 516 193 996 1015 791

T dynamics 1785

– execution – frame – Jacobian – level programming – level simulation – model – oriented kinematics – driven robot –evaluator – priority – related dialogue – constraint – coordinator – decomposition – description – description language tactical planning tactile – array –display – human–robot interaction – illusion –image – interaction – consistent operational space – decomposition – hybrid – integration – lattice – modeling – polybot systematic coverage – interaction with social robots – localization – object localization – object recognition – pattern display –sensing –sensor – sensor information flow tactors tail volume coefficient tangential proper part tape measure target tracking task – allocation – compatibility Index 2224 Index Index 2225

– range sensor 740 – stabilization 1159 two-legged robot 530 – ranging 718 – tracking 161, 253 two-point –sensor 1375 transcranial – boundary value problem 231 time-to-collision 1444 – direct current stimulation 1563 – discrimination 1015 tire model 559 – magnetic stimulation 1563, 1903 two-port network 1013 tolerance 1218, 1406 transducer technologies 715 two-time scale (dynamics) 244 tool transfer two-wheel differential-drive robot – center point 494 – control protocol 292 554 – virtual 1010 – function 248 type synthesis 429 tool-ground interaction 1438 – learning 784 types of rescue robot 1462 topcoat 568 – matrix method 261 topic model 781 – mode 856 U transformational planning 338 topological Index – contact state 860 transit 1407 UAV challenge 1619 – localization and mapping 305 – mode 856 ultrahigh definition (UHD) 577 –map 106, 1445 transition model 988 ultrahigh frequency 1487 topology 1262 translate-turn module 514 ultrahigh-vacuum (UHV) 652 torque translation ultrashort baseline 575 – computed 255 – model 1673 ultrashort-baseline 1216 – control 170, 416 –simple 16 ultrasonic 1016 – controlled humanoid robot 1687 – stiffness 195 ultrasound imaging 1537 transmission 462, 1009 – controlled robot 1336 ultraviolet 638 – control protocol 1046, 1258 – controller 496 ultrawide band 622 – electron microscope 636 – joint feedback 252 umbilical cable 571 – quality 393 – joint sensor 193 uncanny valley 1743, 1767 transparency 1032 – reversal mechanism 533 uncertain environment 1843 transportation 624 torsion 469 uncertainty 324, 437 transverse function 1172 torsional stiffness 397 unconditional stability 1032 traversability 1188 total underactuatedness 409 treadmill training 1563 – energy control system 611, 1237 underconstrained scenario 982 tree – factor productivity 1366 underground mine mapping 1449 – fruit production 1373 touch 1004 – kinematic 51 under-modeling 369 – based interaction 1766 – structure 122 underwater 1411 –sensor 1783 triangulated surface 751 – computer vision system 573 track drive 1601 triangulation 739, 766 –image 573 tracked mechanism 1424 tricept robot 439 – intervention 584 tracked vehicle 1187 trigonometric trajectory 181 –sensor 571 tracking trim condition 605 underwater actuator – algorithm 1489 tripod gait 526 – propeller design 572 – sound source 311 truck spotting 1440 – thruster 571 – trajectory 161, 253 truss grasper 534 underwater manipulator 583 tractability 369 Tustin algorithm 183 underwater robot 584 traffic control 1281 twist 881 –design 565, 566 traffic-light detection 1510 – end-effector 392 –fairing 566 trailer system 1167, 1181 two-and-a-half-dimensional (2.5-D) – frame 566 training data 790 599, 671, 737, 795, 1066, 1609 – middleware 579 trajectory 179 two-dimensional (2-D) 136, 332, underwater vehicle 1214 – exciting 127 537, 584, 596, 634, 678, 713, 738, – manipulator system 1217 – generation 179 763, 783, 806, 833, 860, 967, 984, undulatory motion 528 – modification 962 1015, 1066, 1143, 1272, 1305, unexploded ordnance 1416–1418 – planning 144, 179 1392, 1442, 1495, 1532, 1609, unified modeling language 278 – representation 180 1622, 1743, 1829, 1861, 1916 uniform – smoothness 246 two-layer approach 1034 – completely observable 1236 1889 809 1056 101 808 807 812 812 993 1209 1786 997 795 806 1354 1014 945 597 141 1529 797 807 1012 1685 1345 311 788 1772 803 1889 1345 ling language 936 1188, 1209 1892 1448 462 796 1609 599 1675 1011, 1011, 711 1867 806 597 1602 795 780 936 1011 1212, 1010 mage-based i – human – linkage model – manipulator – object – reality mode –spring – fence – fixture – stick – tool –wall virtual stick viscous – damping – effect – friction visibility graph vision – attention – feature – object class – object recognition – odometry – perspective – perspective taking –servo –servoing –SLAM –word visual servo control –2.5-D – eye-in-hand systems – feature trajectory planning – hybrid approach – – active vision system visual – analog scale visually guided behavior frog V-maneuver voice-coil motors volume analysis volumetric grid map vortex – shedding damping –system voting-based estimation – joint space control – optimization – partitioned approach – pose-based – switching approaches 211 201, 1688 1893 472 1775 625 206 518 1348 141 1717 960, 1906 1374 572 1306 1444 501, 1009 480, 1004, 1773 782 1518 79 1014 1111 1148 1510 1014 1014 1011 170 1247 1112 1423 431 240, 1014 1014 1006 573 1005 1608 40 39 1133 398 1006 1801 487 rotactile ib – coupling – embodiment – environment –game virtual – agent – constraint – contact manipulator video – cassette recorder – observer – feedback vehicle-to-vehicle – measurement – obstacle viability –sensing – suppression control – reluctance – formation control – stability velocity –analysis – spatial velocity-resolved control ventral intraparietal verbal communication – take-off and landing vibration – contact –display – feedback –waveform vibratory type gyro v – structure variable stiffness –SLAM vehicle – automated – detection vertebrate motor control – motion – actuator – joint variable-geometry truss vector – modal – quantization – spatial vector field – histogram vertical – cell decomposition , 1498 1462, 579 1680 1211, 1477 952 1037, 1382, 1416 1445 166 1482 1481, 1265, 292, 480, 740 565, 1943 592, 1757 940 363 1460, 1715 703 1300, 1050 1046 1633 1462, 1188, 591 1462 580 403, 196, 1226 989 988 652 1599 1261, 1966 1559 1939 487 326 756 boundedness 290 ered design 24 1226, 1462, 1967 1485 -cent

V 1236 1258 1056, 1412, 1486, 1462,

– iteration – iteraton (VI) van der Waals vapor detector explosive vacuum cup value – function approach variable – damping – impedance actuator – resource locator universal – coordinated time – joint – plug and play –serialbus unmanned – aerial system – ultimate uniformly completely observable unit quaternion – aerial vehicle users’ mental model utility function – aircraft system – construction machine – ground vehicle – marine vehicle – surface vehicle upper – extremity user unscented Kalman filter unstructured environment unwinding algorithm – limb exoskeleton urban – challenge event – search and rescue use case user data protocol user datagram protocol – underwater vehicle – terrain Index 2226 Index Index 2227

voxel 752, 1012 – slippage 1191, 1338 – mapping 1029 –gridmap 993 – test bed 1191 – reachable 72, 391 VoxMap pointshell 1006 – vehicle slippage 1193 – shape design rule 390 wheel traction 1351 – topology 391 W – characteristics 1191 – volume 391 – performance 1193 world walking 1563 wheeled mechanism 1424 – demographic 1553 wall wheeled mobile robot 547, 1036, –graph 1892 – building 1280 1157, 1187 –wideweb 1046 – climbing robot 419, 530 – modeling 1189 World Geodetic System 703 – virtual 1011 – structure 553 worm-like Waseda bipedal humanoid 1655 – suspension 559 – crawling 526 wheel–terrain interaction 1189 Waseda robot 1648 – robot 473, 1850 Index watchmen tour 1266 – model 556 worst-case range 1685 water whisker array 1850 wrench 33, 881 – pressure-resistant design 567 whole-arm – cone 884 –grasping 859 – speed sensor 574 – transmission matrix 118 – manipulation 467 waterproof sealing design 567 Wright brothers 1225 – manipulator 481 wave wrist center 389 whole-body sensing 994 – drift damping 1208 – force-torque sensor 995 wide-area –variable 1033 – augmentation system 702, 1442 waveform 714 –network 1046 X – vibration 1014 Widrow–Hoff learning rule 1896 waypoint navigation 1338 x-ray fluoroscopy 1537 wing wearable 1015 – aerodynamics 599 – monitoring device 1577 – modeling design 617 Y – therapy robot 1553 winner-take-all 1890 weather proof site 1404 wire-driven parallel robot 428 yaw 1205 web 1049 wireless yet another robot platform 292 – ontology language 323 – access in vehicular environments Young’s modulus 538 –server 1049 1508 wedging 888 – ad-hoc system for positioning Z weed control 1370 1443 weight sharing 789 – markup language 1056 zero weighted – sensor network 1372 – moment point 355, 407, 1129, – difference vegetation index 1382 Wizard of Oz 1756 1135, 1650, 1729 – least squares 127 work envelope 68 – order hold 1035 welding gun 1308 workpiece localization 982 – pole 164 wheel workspace 27, 68, 434, 957, 1008, zero-dimensional (0-D) 634 –offset 548 1302 zona pellucida 648 – sinkage 1352 – dexterous 72, 391 Z-transform 183