This book details relevant research toward design and 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, and worm robotics along with proposition of adhesive contact mechanics.
Key Features:
- Highlights on miniature assistive robots including bio-inspired and worm type
- Discusses design and hardware on modular-type assistive robots
- Covers novel technologies for robot-assisted 3D depth perception and force-sensing flexible antennas
- Explores the technology of feeding assistive robots and grasp prehension
- Reviews assistive robots under uncertain and chaotic environments involving concepts of virtual reality and augmented reality
This book is aimed at graduate students and researchers in robotics, artificial intelligence, signal processing, and electrical engineering.
Table of Contents
Chapter 1. Data-Driven Approaches to Real-Time Constrained Tracking Control of Redundant Manipulators
Rajpal Singh, Chandan Kumar Sah, Jishnu Keshavan
Chapter 2. Mastering Control: A Haptic Robotic Arm with Intuitive Joystick Control and Programmable Sequences
Kunal Singh, Debanik Roy
Chapter 3. Visual Saliency under Uncertain Workspace of Assistive Robots
Manish Okade
Chapter 4. Engineering a Better Walk: Concepts of Gait Analysis for Development of Rehabilitative Exoskeleton
Neelesh Kumar, Dinesh Pankaj, Davinder Pal Singh, Preeti Khera, Ratan Das, Nitin Koundal
Chapter 5. Construction and Control of a Cable-Driven Gait Assistance Exosuit Based on
Kinematic Synergies
Ashwin Jayakumar, Javier Bermejo García, Daniel Rodríguez Jorge, Francisco Romero Sánchez, Francisco Javier Alonso Sánchez, Rafael Agujetas Ortiz
Chapter 6. Assistive Telerobotics and Intuitive Interaction
Nikhil Deshpande, Yonas Teodros Tefera, Yaesol Kim
Chapter 7. An automated Framework based on UAV and Convolutional Neural Networks for the Detection of Xylella Fastidiosa Disease in Olive Trees
Paolo Lino, Guido Maione, Nikolai Svishchev
Chapter 8. A State-of-the-Art Review on Garbage Collection and Segregation Robot
Pina Bhatt, Swapnil Vegad, Keval Bhavsar, Umang Parmar
Chapter 9. Forward and Inverse Problems Relating to an Assistive Robotic Manipulator
in an Uncertain Environment
Priya Rao, Snehashish Chakraverty, Debanik Roy
Chapter 10. Development of Intelligent Control Systems for Assistive Robots
Sarvesh Saini, M.Felix Orlando, Pushparaj Mani Pathak
Chapter 11. Depth Estimation and 3D Mapping of Navigable Indoor Environments for Assistive Robots
Rammohan Sriramdas, Sidharth N. Pisarody, Debanik Roy
Chapter 12. Positional Control of a 3D Printed Indigenous 6 DoF Feeding Robotic Arm using ANFIS and Fuzzy-PID Controller
Priyam A. Parikh, Naitik Dalwadi, Reena Trivedi, Debanik Roy
Chapter 13. Control Issues in Haptic Robot Navigation and Object/Obstacle Recognition Using a Flexible Sensing Antenna
Luis Merida-Calvo, Marıa Isabel Haro-Olmo, Francisco Ramos, Vicente Feliu-Batlle
Chapter 14. Flexible Link Lumped Masses Manipulators: Modeling and Control
Daniel Feliu-Talegon, Selma Ben Ftima, Saddam Gharab, Vicente Feliu-Batlle
Chapter 15. Robotic Grasp Prehension: Novel Design Metrics for Assistive Systems using Compliance
Sagar Mangulkar, Rahul Narale, Samrudhi Patil, Viinod Atpadkar, Debanik Roy
Chapter 16. Modelling and Mapping of an Autonomous Assistive Robot for Material Handling in Dynamic Indoor Environments
Rubesh Thirumani S., Mervin Joe Thomas, Santhakumar Mohan
Chapter 17. Synthesis of Sensor-Assisted Robotic Grasp using Customized Graphical User Interface
Pranjal Bogawar, Biswajit Das, Debanik Roy
Editor(s)
Biography
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).
