This book details relevant research towards design as well as modeling issues for the firmware of higher-order Flexible Robotic Systems (FRS) with concerned chapters delineating state-of-the-art research in FRS, focusing on novel designs and prototype hardware development of different types of multi-link serial-chain as well as closed-loop flexible manipulators. Other concepts explained include bio-inspired robotics, modular robotics, worm robotics along with proposition of adhesive contact mechanics.
Features:
• Highlights on assistive robots in miniature form including bio-inspired and worm type. Discusses design and hardware on modular type assistive robots.
• Covers novel technologies for robot-assisted 3D depth perception & force-sensing flexible antennas.
• Explores technology of feeding assistive robots and grasp prehension.
• Reviews assistive robots under uncertain and chaotic environments involving concepts of Virtual Reality & Augmented Reality.
This book is aimed at graduate students and researchers in robotics, artificial intelligence, signal processing, and electrical engineering.
It details relevant research towards design as well as modeling issues for the firmware of higher-order Flexible Robotic Systems (FRS) with chapters delineating state-of-the-art research in FRS, focusing on novel designs and prototype hardware development of different types of multi-link serial-chain and closed-loop flexible manipulators.
Chapter
1. Data-Driven Approaches to Real-Time Constrained Tracking
Control of Redundant Manipulators.
Chapter
2. Mastering Control: A Haptic
Robotic Arm with Intuitive Joystick Control and Programmable Sequences.
Chapter
3. Visual Saliency under Uncertain Workspace of Assistive Robots.
Chapter
4. Engineering a Better Walk: Concepts of Gait Analysis for
Development of Rehabilitative Exoskeleton.
Chapter
5. Construction and
Control of a Cable-Driven Gait Assistance Exosuit Based on Kinematic
Synergies.
Chapter
6. Assistive Telerobotics and Intuitive Interaction.
Chapter
7. An automated Framework based on UAV and Convolutional Neural
Networks for the Detection of Xylella Fastidiosa Disease in Olive Trees.
Chapter
8. A State-of-the-Art Review on Garbage Collection and Segregation
Robot.
Chapter
9. Forward and Inverse Problems Relating to an Assistive
Robotic Manipulator in an Uncertain Environment.
Chapter
10. Development of
Intelligent Control Systems for Assistive Robots.
Chapter
11. Depth
Estimation and 3D Mapping of Navigable Indoor Environments for Assistive
Robots.
Chapter
12. Positional Control of a 3D Printed Indigenous 6 DoF
Feeding Robotic Arm using ANFIS and Fuzzy-PID Controller.
Chapter
13. Control
Issues in Haptic Robot Navigation and Object/Obstacle Recognition Using a
Flexible Sensing Antenna.
Chapter
14. Flexible Link Lumped Masses
Manipulators: Modeling and Control.
Chapter
15. Robotic Grasp Prehension:
Novel Design Metrics for Assistive Systems using Compliance.
Chapter
16.
Modelling and Mapping of an Autonomous Assistive Robot for Material Handling
in Dynamic Indoor Environments.
Chapter
17. Synthesis of Sensor-Assisted
Robotic Grasp using Customized Graphical User Interface
Debanik Roy, Gold Medalist in B.Engg. & M.Tech., has nearly 35 years of research experience in the domain of Robotics, Automation, Artificial Intelligence & Intelligent Manufacturing Systems. Since 1999, Dr. Roy has been associated with the Department of Atomic Energy (DAE), Govt. of India. He was with the Robotics division of Bhabha Atomic Research Centre (BARC), Mumbai from 1999 to 2008 and headed Engineering Science committee of Board of Research in Nuclear Sciences from 2009 to 2017. At present, Dr. Roy is associated with Division of Remote Handling & Robotics at BARC. He is also serving as an Adjunct Professor of Homi Bhabha National Institute, DAE. His research interest comprises in the domain of robot grippers, gripper sensors, flexible manipulator, bio-inspired robotics, soft robotics, underwater robotics, tele-manipulation and web-mediated robotics. Dr Roy received DAE Award for Excellence in Science & Technology in 2014, membership of DST, Govt of India & Lifetime Achievement award from Marquis in 2018. He has authored 3 books, 16 book-chapters on robotics and over 340 technical papers till date, published in referred journals, book chapters and conference proceedings.
S. Chakraverty has almost 30 years of experience as a researcher and teacher. Presently, he is working in the Department of Mathematics (Applied Mathematics Group), National Institute of Technology Rourkela, Odisha as a Senior Professor (Higher Administrative Grade). His present research area includes Differential Equations (Ordinary, Partial and Fractional), Numerical Analysis and Computational Methods, Structural Dynamics (FGM, Nano) and Fluid Dynamics, Mathematical and Uncertainty Modeling, Soft Computing and Machine Intelligence (Artificial Neural Network, Fuzzy, Interval and Affine Computations).
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