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MIT Press has always been at the cutting edge of advanced robotics. No other publisher comes close to the number and quality of robotics titles that roll off of the presses at MIT every year. We are proud to offer some of the best of the MIT Press books in this section, plus several titles from other publishers.

 

 

 

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   Embedded Robotics
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Embedded RoboticsEmbedded Robotics : Mobile Robot Design and Applications with Embedded Systems presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level.

It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation).

 

The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

 

 

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   Designing Autonomous Mobile Robots
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Designing Autonomous Mobile RobotsDesigning Autonomous Mobile Robots introduces the reader to the fundamental concepts of this complex field. The author addresses all the pertinent topics of the electronic hardware and software of mobile robot design, with particular emphasis on the more difficult problems of control, navigation, and sensor interfacing.

Covering topics such as advanced sensor fusion, control systems for a wide array of application sensors and instrumentation, and fuzzy logic applications, this volume is essential reading for engineers undertaking robotics projects as well as undergraduate and graduate students studying robotic engineering, artificial intelligence, and cognitive science. Its state-of-the-art treatment of core concepts in mobile robotics challenges readers to explore new avenues in an exciting field. The accompanying CD-ROM provides software routines for the examples cited as well as an electronic version of the text.

Authored by a well-know pioneer of mobile robotics. Learn how to approach the design of robots and complex control system with confidence.

 

 

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   Introduction to Autonomous Mobile Robots
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Introduction to Autonomous Mobile RobotsMobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility--the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks--including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.

The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotion, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data.

The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for coursework or a working tool for beginners in the field.

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robot
   Mobile Robotics : A Practical Introduction
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Mobile Robotics a Practical IntroductionMobile Robotics: A Practical Introduction is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots.

A fascinating, cutting-edge research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies which show how to build and program real working robots.

Topics covered include machine learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity mobile robot simulation.

This book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for final year undergraduate students and postgraduate students studying Robotics, Artificial Intelligence, Cognitive Science and Robot Engineering. Its update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field, and set challenges to explore new avenues of research in this exciting field.

Chapters Include:
Introduction, Foundations, Robot Hardware, Robot Learning: Making Sense of Raw Sensor Data, Navigation, Simulation: Modeling Robot-Environment Interaction, Analysis of Robot Behavior, Outlook, Answers to Exercises, References, Index.

We recommend this book!

Read an excerpt from this book

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robot
   Fundamentals of Robotics
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Fundamentals of RoboticsTomorrow's robots, including humanoid robots, will perform tasks like tutoring children, working as tour guides, driving humans to work, and the family shopping. They will enhance our lives in ways we never dreamed possible. No time to attend a meeting on Asian strategy? Let your robot go for you and make the decisions. Not feeling well enough to go to the clinic? Let Dr. Robot come to you, make a diagnosis, and get you the necessary medicine for treatment. No time to coach the soccer team this week? Let the robot do it for you.

Tomorrow's robots will be the most exciting and revolutionary things to happen to the world since the invention of the automobile. They will change the way we work, play, think, and live. This book will guide you, the curious beginner, from yesterday to tomorrow. Fundamentals of Robotics covers practical knowledge in understanding, developing, and using robots as versatile equipment to automate a variety of industrial processes or tasks.

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   Computational Principles of Mobile Robotics
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Computational Principles of Mobile RoboticsWith a special emphasis on computation and algorithms, the authors address a range of strategies for enabling robots to master problems of navigation, pose estimation, and autonomous exploration. While they concentrate on wheeled and legged mobile robots, they also discuss a variety of other propulsion systems with kinematic models developed for many of the more common locomotive strategies. Chapters present algorithms for both visual and non-visual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors thoroughly examine the subject of planning and the issues related to spatial representation.

A comprehensive overview of the field, Computational Principles of Mobile Robotics is divided into three major sections: locomotion, sensing, and reasoning. It complements its discussion of state-of-the art methods with 139 illustrations of key current and historical technologies. This is a superb textbook for graduate and advanced undergraduate students in the field of mobile robotics.

You may also be interested in:
Algorithmic Foundations of Robotics
Algorithmic and Computational Robotics : New Directions

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robot
   Biologically Inspired Intelligent Robots
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Biologically Inspired Intelligent RobotsThis book is a collection reports on the technical challenges and future research trends of building robots that emulate the appearance and behavior of biological creatures. Topics of the 11 chapters include the development of muscle-like actuators, the principles of animated expression and motion, haptic interfaces for human-assistive robotics, orthotic and prosthetic technology, sensors and power supplies, robot control, cognitive modeling for robots, and current applications that mimic living creatures. Both black and white and color photographs are provided.

Advances in biologically-inspired technologies, such as artificial intelligence and artificial muscles, are bringing the possibility of engineering robots that look and behave like humans closer to reality.

The multidisciplinary issues involved in the development of these robots include materials, actuators, sensors, structures, functionality, control, intelligence, and autonomy. This book reviews various aspects ranging from the biological model to the vision for the future.

You may also be interested in:
Biologically Inspired Robot Behavior Engineering

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robot
   Biorobotics
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BioroboticsAnimal-like robots are playing an increasingly important role as a link between the worlds of biology and engineering. The new, multidisciplinary field of biorobotics provides tools for biologists studying animal behavior and testbeds for the study and evaluation of biological algorithms for potential engineering applications. Biorobots are now enabling biologists to understand complex animal-environment relationships. This book unites scientists from diverse disciplines who are using biorobots to probe animal behavior and brain function.

The first section describes the sensory systems of biorobotic crickets, lobsters, and ants and the visual system of flies. The second section details the construction of a hexapod robot with kinematics borrowed from the common cockroach. It also explores the intriguing question of how the evolution of complex motor abilities could lead to the development of cognitive functions.

The final section discusses higher brain function and neural modeling in humanoid robots. This topic is illustrated with the help of "Cog" the humanoid robot built by Rodney Brooks and his students at the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology.

 

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robot
   Map-Building and Exploration Strategies of a Simple Sonar-Equipped Robot
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Map-BuildingThere are two radically different approaches to robot navigation. The first is to use a map of the robot's environment; the second uses a set of built-in reflexes to enable a robot to react rapidly to local sensory information. The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot proposes a method for evaluating the different approaches, and shows how to decide which is the most appropriate for a given robot.

It begins by describing "ARNE", the experimental mobile robot. ARNE is a 12 inch diameter disc which supports the control electronics and a rotating Polaroid sonar range-finding sensor. Below the disc is a frame that houses the motors and shaft encoders for the two drive wheels. A bump sensor around the main disc is used to detect collisions.

Chapters are devoted to the maps used in the research; Approaches to exploration; The robot itself; Modeling the sonar sensor; Map construction (including a feature based map, and a grid based map); Path planning; Localization; and Map quality metrics.

Exploration strategies are tested experimentally in a range of environments and starting positions. The author shows that the most promising results are observed from hybrid exploration strategies that combine the robustness of reactive navigation and the directive power of map-based strategies.

You may also be interested in:
Mobile Robot Localization and Map Building : A Multisensor Fusion Approach
Principles of Robot Motion : Theory, Algorithms, and Implementations

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robot
   Soccer Robotics
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Soccer Robotics

This book is a comprehensive introduction to the field of soccer robotics. Soccer robotics has become an important research area integrating mechatronics, computer science and artificial intelligence techniques to create real-world autonomous systems. It also serves as a popular test arena in which to compare the different approaches, in diverse types of competition and with varying levels of distributed perception and collaboration. The focus of this monograph is the FIRA framework of Soccer Robotics, in particular the Micro Robot World Cup Soccer Tournament, (MiroSot), which uses a central overhead camera to view the whole soccer field and central control of the robots.

Soccer Robotics completely describes the different requirements to create a soccer team and details the hardware aspects, the computer vision needed, navigation, action selection, basic skills and game strategy. These aspects are described at an undergraduate level, resulting in a book not only useful as a text for courses but also indispensable for everyone who wants to participate in robotic competitions.

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robot
   A Winning Approach to Robotic Soccer
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Robotic SoccerRobotic soccer is emerging as a standard challenge for AI and robotics researchers. RoboCup's long-term goal is to enable the creation of a humanoid robotic soccer team that is capable of playing on a full-size field and beating the best human soccer team by the year 2050. This book contributes some of the first steps towards attaining this ambitious goal, while at the same time improving our understanding of what it takes to build complete AI agents.

Peter Stone's book is the result of six years of research as a Ph.D. candidate and Postdoctoral Fellow in the Computer Science Department at Carnegie Mellon University. It is about building artificially intelligent agents for real-time, noisy, collaborative, and adversarial multiagent environments. Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer, Intelligent Robotics & Autonomous Agents makes four main contributions to the fields of machine learning and multiagent systems.

First, it describes an architecture within which a flexible team structure allows member agents to decompose a task into flexible roles and to switch roles while acting. Second, it presents layered learning, a general-purpose machine-learning method for complex domains in which learning a mapping directly from agents' sensors to their actuators is intractable with existing machine-learning methods. Third, the book introduces a new multiagent reinforcement learning algorithm--team-partitioned, opaque-transition reinforcement learning (TPOT-RL)--designed for domains in which agents cannot necessarily observe the state-changes caused by other agents' actions. The final contribution is a fully functioning multiagent system that incorporates learning in a real-time, noisy domain with teammates and adversaries--a computer-simulated robotic soccer team.

Peter Stone's work is the basis for the CMUnited Robotic Soccer Team, which has dominated recent RoboCup competitions. RoboCup not only helps roboticists to prove their theories in a realistic situation, but has drawn considerable public and professional attention to the field of intelligent robotics. The CMUnited team won the 1999 Stockholm simulator competition, outscoring its opponents by the rather impressive cumulative score of 110-0.

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robot
   Robot Teams
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Robot TeamsRobot Teams : From Diversity to Polymorphism examines the essentials of multi-agent robotics theory and provides descriptions of several systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augmented with mathematical formulations, photos, diagrams, and source code examples.

Part One: Theoretical Foundations. The first four chapters focus on theoretical underpinnings of research in robot teams, including multirobot tasks and rewards; a survey of existing work in multiagent and multi robot research; and metrics for evaluating the diversity of multirobot teams. Part Two: Enabling Technologies. Each chapter in the middle third of the book describes a "great idea" for multirobot systems. Part Three: Robot Team Case Studies. In the final third of the book, the authors "bring it all together" with a series of chapters describing important implemented systems that demonstrate key aspects of robot teams.

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robot
   Machines That Walk
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Machines That WalkWhat is 16-feet long, 10-feet high, weighs 6,000 pounds, has six legs, and can sprint at eight mph and step over a four-foot wall? Answer: the Adaptive Suspension Vehicle (ASV) described in this book.

Machines That Walk : The Adaptive Suspension Vehicle, offers an in-depth treatment of the 'statically stable walking machine' theory employed in the design of the ASV, the most sophisticated, self-contained, and practical walking machine ever developed. The book includes ordering information for a 17 minute video of this amazing machine.

 

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robot
   Evolutionary Robotics
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Evolutionary RoboticsEvolutionary robotics is a new technique for the automatic creation of autonomous robots. Inspired by the Darwinian principle of selective reproduction of the fittest, it views robots as autonomous artificial organisms that develop their own skills in close interaction with the environment and without human intervention. Drawing heavily on biology and ethology, it uses the tools of neural networks, genetic algorithms, dynamic systems, and biomorphic engineering. The resulting robots share with simple biological systems the characteristics of robustness, simplicity, small size, flexibility, and modularity.

In evolutionary robotics, an initial population of artificial chromosomes, each encoding the control system of a robot, is randomly created and put into the environment. Each robot is then free to act (move, look around, manipulate) according to its genetically specified controller while its performance on various tasks is automatically evaluated. The fittest robots then "reproduce" by swapping parts of their genetic material with small random mutations. The process is repeated until the "birth" of a robot that satisfies the performance criteria.

This book describes the basic concepts and methodologies of evolutionary robotics and the results achieved so far. An important feature is the clear presentation of a set of empirical experiments of increasing complexity. Software with a graphic interface, freely available on a companion web site, will allow the reader to replicate and vary (in simulation and on real robots) most of the experiments.

 

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robot
   Remote Control Robotics
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Remote Control RoboticsThe goal of Remote Control Robotics is to enable you to control a remote robot. If you and the robot both occupy the same room, this is a simple problem. But consider what happens if we move the robot to a different city and supply you with a low-bandwidth connection such as the Internet. Now you have to deal with a low resolution view of the robot and, even worse, a significant time delay. Perhaps it is on an uneven footpath, or perhaps it is submerged on the sea floor. If the robot were walking and it stumbled, it would crash to the ground before you even received the first video image showing any problem. Not only can you not correct if something goes wrong, but it's much more likely that something will go wrong. That's the subject of this text. The aim is to let you control a remote robot efficiently, in a real environment, via a constrained communications link.

It begins with an introduction to the basics of robotics, then takes a historical look at controlling remote machines, and then examine the difficulties imposed by delayed, low-bandwidth, communications. The authors explains techniques like active force feedback, visual clues, and techniques for diagnosing and recovering from errors. And finally, to show that the ideas are feasible, they describe real working robots.

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robot
   From Animals to Animats
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From Animals to AnimatsThe From Animals to Animats series brings together research intended to advance the frontier of an exciting new approach to understanding machine intelligence. The contributors represent a broad range of interests from artificial intelligence and robotics to ethology and the neurosciences. Unifying these approaches is the notion of "animat" - an artificial animal, either simulated by a computer or embodied in a robot, which must survive and adapt in progressively more challenging environments. The contributors focus on well-defined models, computer simulations, and they build robots in order to help characterize and compare various principles and architectures capable of inducing adaptive behavior in real or artificial animals. The researchers gather together about once per year to present the results of their experiments and they are published in the Animals to Animats series.

*  Adaptive behavior
*  Perception
*  Motor control
*  Navigation
*  Learning and adaptation
*  Evolution
*  Collective and social behaviors
*  Language and communication
*  Applied adapted behavior

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robot
   Computer Vision and Applications
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Computer VisionBased on the highly successful 3-volume reference Handbook of Computer Vision and Applications, (which sells for over $1,000), this concise edition covers in a single volume the entire spectrum of computer vision ranging form the imaging process to high-end algorithms and applications. This book consists of three parts: Sensors and Imaging, covering all processes involved in the formation of an image and the sensors that convert radiation into electric signals; Signal Processing and Pattern Recognition, focuses on processing of the spatial and spatiotemporal signal acquired by imaging sensors; and an Application Gallery illustrating a collection of examples of computer vision from both industry and science.

Chapters include: Radiation and Illumination, Imaging Optics, Radiometry of Imaging, Solid-State Image Sensing, Geometric Calibration of Digital Imaging Systems, Three-Dimensional Imaging Techniques, Representation of Multidimensional Signals, Neighborhood Operators, Motion, Three-Dimensional Imaging Algorithms, Design of Nonlinear Diffusion Filters, Variational Methods for Adaptive Smoothing and Segmentation, Morphological Operators, Probabilistic Modeling in Computer Vision, Fuzzy Image Processing, Neural Net Computing for Image Processing, Applications Gallery.

This fresh approach to computer vision bridges gaps between modern physical sciences and the many novel image acquisition techniques; and between basic research and applications.

The accompanying CD-ROM includes the full text with hyperlinks for quick searching and browsing along with reference material, interactive software components, code examples, image material, full color figures, and references to Internet sources.

You may also be interested in:
Panoramic Vision
Robot Vision : Video-based Indoor Exploration with Autonomous and Mobile Robots

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