A comprehensive introduction to the mathematical foundations of movement and actuation that apply equally to animals and machines.
A comprehensive introduction to the mathematical foundations of movement and actuation that apply equally to animals and machines.
This textbook offers a computational framework for the sensorimotor stage of development as applied to robotics. Much work in developmental robotics is based on ad hoc examples, without a full computational basis. This book's comprehensive and complete treatment fills the gap, drawing on the principal mechanisms of development in the first year of life to introduce what is essentially an operating system for developing robots. The goal is to apply principles of development to robot systems that not only achieve new levels of performance but also provide evidence for scientific theories of human development.
By:
Roderic A. Grupen
Imprint: MIT Press
Country of Publication: United States
Dimensions:
Height: 229mm,
Width: 178mm,
Weight: 567g
ISBN: 9780262073004
ISBN 10: 0262073005
Series: Intelligent Robotics and Autonomous Agents series
Pages: 360
Publication Date: 07 March 2023
Audience:
General/trade
,
ELT Advanced
Format: Hardback
Publisher's Status: Active
Preface xv Acknowledgments xxi 1 Introduction 1 I MOTOR UNITS 2 Actuation 17 3 Closed-Loop Control 47 Part I Summary: Muscles, Motors, and Control 76 II STRUCTURE IN KINODYNAMIC SYSTEMS 4 Kinematic Systems 5 Hands and Kinematic Grasp Analysis 119 6 Dynamics of Articulated Systems 147 Part II Summary: The Kinodynamic Affordances of Embodied Systems 165 III STRUCTURE IN SENSORY FEEDBACK 7 Stimuli and Sensation: Organs of Visual and Tactile Perception 169 8 Signals, Signal Processing, and Information 191 Part III Summary: Transducers, Signals, and Perceptual Structure 218 IV SENSORIMOTOR DEVELOPMENT 9 Infant Neurodevelopmental Organization 221 10 A Computational Framework for Experiments in Developmental Learning 251 11 Case Study: Learning to Walk 281 Part IV Summary: Foundations for Hierarchical Skills 298 Appendix A Tools for Linear Analysis 299 Appendix B The Dynamics of Kinematic Chains 331 Appendix C Numerical Methods for Solving Laplace's Equation 351 Bibliography 357 Index 371
Roderic A. Grupen is Professor of Computer Science and Director of the Laboratory for Perceptual Robotics at the University of Massachusetts Amherst.
