Page 456 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

INDEX 431

rear contact, 229 T
rear shadow, 229 Tarry’s Rule, 64
regular grating, 262 terrain acquisition, 125
revolute joint, 18, 180 test for target reachability, 89
revolute–prismatic (RP) arm, 182 Bug1, 88
revolute–revolute (RR) arm, 181 Bug2, 99
robot, 13 topology of obstacles, 285
robot arm manipulator, 18 trajectory, 20
robot’s path, 20 Tremaux, 64
RP-arm Algorithm, 233 two-way analysis of variance, 365
RR-Arm Algorithm, 210 Type I monotonicity, 287
Type II monotonicity, 287
S Type III monotonicity, 290
scanning, 106 U
SCARA arm manipulator, 179
secondary path frame, 161 uncertainty, 16
secondary semiplane, 107 univariate analysis of variance, 355
sensitive skin, 17, 392 universal lower bound, 80
sensitive skin diagram, 390
separable arm, 180, 273 V
separation theorems, 261
sequential linkage, 18 V-plane, 281
SIM (Sensing–Intelligence–Motion) virtual boundary, 185, 194
paradigm, 49, 55, 74, 177 virtual line, 192
skin properties, 392 virtual obstacle, 191
skin, full coverage, 391 VisBug-21 Algorithm, 110
skin, locality identification, 391 VisBug-22 Algorithm, 120
sliding (prismatic) joint, 18, 180 vision, adding to algorithms, 104, 213
space anisotropy, 273
space monotonicity, 273
W
statics, 33
step planning, 212 Wiener’s Algorithm, 64
stopping path, 140 workspace (W-space), 18
straight-line interpolation, 46 world coordinate frame, 146