Suchergebnisse

1: Introduction -- Definitions of 'robot' and 'robotics' -- Other definitions in robotics -- Connections between robotics and some related subjects -- Bibliographic notes -- 2: Geometric configurations for robots -- The distinction between arms and vehicles -- Structural elements of manipulators -- Degrees of freedom and number of joints -- Types of joint -- Construction of joints -- Parallel linkages -- Constrained linkages -- Distributed manipulators -- Robot transporters and workpiece positioners -- Arm configuations -- Tension structures -- Wrists -- End effectors (grippers, tools and hands) -- Bibliographic notes -- 3: Operation, programming and control of industrial robots -- Types of industrial robot and their methods of operation -- Methods of teaching and programming -- Types of controller and program memory -- Analysis and control -- Programming languages for industrial robots -- Bibliographic notes -- 4: Actuators for robots -- Pneumatic actuation -- Hydraulic actuation -- Hydrostatic circuits -- Electric actuation -- Mechanical transmission methods -- Bibliographic notes -- 5: Sensing for robots -- Joint angle -- Joint angular velocity -- Rectilinear position -- Force and torque -- Proximity sensing and range measurement -- Touch sensing -- Vision -- Types of computer vision -- Non-visual sensing in welding and other processes -- Bibliographic notes -- 6: Performance specifications of industrial robots -- Geometric configuration; number of axes -- Positioning accuracy and repeatability -- Angular accuracy and repeatability -- Speed -- Speed and acceleration accuracy -- Spatial specifications: working volume, swept area, reach -- Payload (maximum load capacity) -- Control-related specifications -- Vibration -- Miscellaneous specifications -- Bibliographic notes -- 7: Applications of industrial robots -- Machine loading -- Pallet loading and unloading -- Investment casting -- Spot welding -- Arc welding -- Spraying (paint, enamel, epoxy resin and other coatings) -- Fettling (grinding, chiselling); polishing -- Cutting -- Inspection -- Training and education; hobby robots -- Robots in assembly -- New applications for industrial robots -- Integration of industrial robots into the workplace -- Bibliographic notes -- 8: Teleoperated arms -- Methods of control -- Special characteristics of teleoperators -- Applications of teleoperators -- Computer assisted teleoperation -- Bibliographic notes -- 9: Mobile robots -- Land surface robots -- Legged robots -- Robot submersibles -- Robots in air and space -- Bibliographic notes -- 10: Automated guided vehicles -- Automated guided vehicle technology -- Bibliographic notes -- 11: Robotics and artificial intelligence -- Vision -- Voice communication -- Planning -- Modelling -- Adaptive control -- Error monitoring and recovery -- Autonomy and intelligence in robots -- Expert systems in robotics -- Bibliographic notes -- 12: Economic and social aspects of robotics -- Reasons for installing robots -- Economic costs and benefits of installing industrial robots -- Acceptability of industrial robots by the workforce -- Employment -- Other social issues of robotics -- Bibliographic notes -- References and Bibliography.

Advantages of legs -- Terminology -- 1 A brief history of walking machines -- Rough-terrain transport -- Bipeds: medical applications and man-amplifiers -- The modern era: computer control -- Alternative mechanisms of locomotion -- 2 General principles of legged locomotion -- The theory of land locomotion in general -- The soil mechanics of wheels -- Locomotion using levers -- Soil mechanics and the difference between feet and wheels -- The energetics of legged locomotion -- Other properties of legs -- Mechanisms other than legs -- Aids to locomotion -- Non-locomotory uses of appendages -- Description and classification of gaits -- 3 The mechanics of legged vehicles -- Animal structures and their applications to robots -- Leg number and arrangement -- Leg design -- Structure -- Actuation methods -- 4 The analysis and control of legged systems -- Purpose of analysis and control -- The objectives of control in legged locomotion -- Dynamics -- Multipod control -- 5 Computing: hardware and software requirements -- Computer architectures -- Sensing methods -- The design of algorithms for multipod walking -- Programming languages for legged robots -- 6 Current developments -- The Ohio State University hexapod and adaptive suspension vehicle -- ReCUS: the Komatsu underwater octopod -- Sutherland's hexapod -- The Odetics ODEX I -- Quadruped research at the Tokyo Institute of Technology -- Walking robots in France -- Jurassic Robots -- Current research on bipeds -- Research on hopping at Carnegie-Mellon University -- Conclusions -- 7 Applications of walking machines -- Military transport -- Mining -- Nuclear engineering and other cases of remote handling -- Prosthetics and orthotics: walking chairs -- Planetary exploration -- Construction and related activities -- Agriculture and forestry -- Mobile robots in artificial intelligence -- Fire-fighting and rescue robots -- Applications unlikely to be suitable for walking machines -- The study of locomotion (zoology and engineering) -- Education, art and entertainment -- References and bibliography.