Page 8 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

CONTENTS

Preface xiii
Acknowledgments xxiii

1 Motion Planning—Introduction 1

1.1 Introduction 1
1.2 Basic Concepts 13
1.2.1 Robot? What Robot? 13
1.2.2 Space. Objects 15
1.2.3 Input Information. Sensing 15
1.2.4 Degrees of Freedom. Coordinate Systems 18
1.2.5 Motion Control 20
1.2.6 Robot Programming 21
1.2.7 Motion Planning 24

2 A Quick Sketch of Major Issues in Robotics 27
2.1 Kinematics 29

2.2 Statics 33
2.3 Dynamics 33
2.4 Feedback Control 37
2.5 Compliant Motion 40
2.6 Trajectory Modification 44

2.7 Collision Avoidance 48
2.8 Motion Planning with Complete Information 51
2.9 Motion Planning with Incomplete Information 55
2.9.1 The Beginnings 59
2.9.2 Maze-to-Graph Transition 66

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