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Chapter 18 — Parallel Mechanisms

Jean-Pierre Merlet, Clément Gosselin and Tian Huang

This chapter presents an introduction to the kinematics and dynamics of parallel mechanisms, also referred to as parallel robots. As opposed to classical serial manipulators, the kinematic architecture of parallel robots includes closed-loop kinematic chains. As a consequence, their analysis differs considerably from that of their serial counterparts. This chapter aims at presenting the fundamental formulations and techniques used in their analysis.

Par2 robot

Author  Sébastien Krut

Video ID : 51

This video demonstrates the Par2 robot, a high-speed planar parallel robot.

Chapter 53 — Multiple Mobile Robot Systems

Lynne E. Parker, Daniela Rus and Gaurav S. Sukhatme

Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 53.3, followed by a discussion of networked mobile robots in Sect. 53.4. Following this we discuss swarm robot systems in Sect. 53.5 and modular robot systems in Sect. 53.6. While swarm and modular systems typically assume large numbers of homogeneous robots, other types of multirobot systems include heterogeneous robots. We therefore next discuss heterogeneity in cooperative robot teams in Sect. 53.7. Once robot teams allow for individual heterogeneity, issues of task allocation become important; Sect. 53.8 therefore discusses common approaches to task allocation. Section 53.9 discusses the challenges of multirobot learning, and some representative approaches. We outline some of the typical application domains which serve as test beds for multirobot systems research in Sect. 53.10. Finally, we conclude in Sect. 53.11 with some summary remarks and suggestions for further reading.

A method for transporting a team of miniature robots

Author  Nikolaos Papanikolopoulos

Video ID : 205

A scout robot is a small robot with a limited battery supply that is used mainly for reconnaissance. This research uses a larger robot to transport the scouts to an area of interest. The scouts can then jump into and out of a platform on the larger robot, thus increasing the distance the scouts can search.

Chapter 21 — Actuators for Soft Robotics

Alin Albu-Schäffer and Antonio Bicchi

Although we do not know as yet how robots of the future will look like exactly, most of us are sure that they will not resemble the heavy, bulky, rigid machines dangerously moving around in old fashioned industrial automation. There is a growing consensus, in the research community as well as in expectations from the public, that robots of the next generation will be physically compliant and adaptable machines, closely interacting with humans and moving safely, smoothly and efficiently - in other terms, robots will be soft.

This chapter discusses the design, modeling and control of actuators for the new generation of soft robots, which can replace conventional actuators in applications where rigidity is not the first and foremost concern in performance. The chapter focuses on the technology, modeling, and control of lumped parameters of soft robotics, that is, systems of discrete, interconnected, and compliant elements. Distributed parameters, snakelike and continuum soft robotics, are presented in Chap. 20, while Chap. 23 discusses in detail the biomimetic motivations that are often behind soft robotics.

Dynamic walking of whole-body compliant humanoid COMAN

Author  Chengxu Zhou, Xin Wang, Zhibin Li, Nikolaos Tsagarakis

Video ID : 465

COMAN performing dynamic walking.

Chapter 54 — Industrial Robotics

Martin Hägele, Klas Nilsson, J. Norberto Pires and Rainer Bischoff

Much of the technology that makes robots reliable, human friendly, and adaptable for numerous applications has emerged from manufacturers of industrial robots. With an estimated installation base in 2014 of about 1:5million units, some 171 000 new installations in that year and an annual turnover of the robotics industry estimated to be US$ 32 billion, industrial robots are by far the largest commercial application of robotics technology today.

The foundations for robot motion planning and control were initially developed with industrial applications in mind. These applications deserve special attention in order to understand the origin of robotics science and to appreciate the many unsolved problems that still prevent the wider use of robots in today’s agile manufacturing environments. In this chapter, we present a brief history and descriptions of typical industrial robotics applications and at the same time we address current critical state-of-the-art technological developments. We show how robots with differentmechanisms fit different applications and how applications are further enabled by latest technologies, often adopted from technological fields outside manufacturing automation.

We will first present a brief historical introduction to industrial robotics with a selection of contemporary application examples which at the same time refer to a critical key technology. Then, the basic principles that are used in industrial robotics and a review of programming methods will be presented. We will also introduce the topic of system integration particularly from a data integration point of view. The chapter will be closed with an outlook based on a presentation of some unsolved problems that currently inhibit wider use of industrial robots.

SMErobotics Demonstrator D1 assembly with dual-arm industrial manipulators

Author  Martin Haegele, Thilo Zimmermann, Björn Kahl

Video ID : 380

SMErobotics: Europe's leading robot manufacturers and research institutes have teamed up with the European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing - to make the vision of cognitive robotics a reality in a key segment of EU manufacturing. Funded by the European Union 7th Framework Programme under GA number 287787. Project runtime: 01.01.2012 - 30.06.2016 For a general introduction, please also watch the general SMErobotics project video (ID 260). About this video: Chapter 1: Introduction (0:00); Chapter 2: Fenceless approach in a safe; environment & Gesture Control (00:27); Chapter 3: Cooperative motion (00:57); Chapter 4: Minimal fixtures for maximum flexibility (Scan Objects) (01:36); Chapter 5: Offline preview (02:12); Chapter 6: Task execution (02:26); Chapter 7: Tool changer device (03:49); Chapter 8: Statement (04:11); Chapter 9: Outro (04:39); Chapter 10: The Consortium (05:08). For details, please visit:

Chapter 30 — Sonar Sensing

Lindsay Kleeman and Roman Kuc

Sonar or ultrasonic sensing uses the propagation of acoustic energy at higher frequencies than normal hearing to extract information from the environment. This chapter presents the fundamentals and physics of sonar sensing for object localization, landmark measurement and classification in robotics applications. The source of sonar artifacts is explained and how they can be dealt with. Different ultrasonic transducer technologies are outlined with their main characteristics highlighted.

Sonar systems are described that range in sophistication from low-cost threshold-based ranging modules to multitransducer multipulse configurations with associated signal processing requirements capable of accurate range and bearing measurement, interference rejection, motion compensation, and target classification. Continuous-transmission frequency-modulated (CTFM) systems are introduced and their ability to improve target sensitivity in the presence of noise is discussed. Various sonar ring designs that provide rapid surrounding environmental coverage are described in conjunction with mapping results. Finally the chapter ends with a discussion of biomimetic sonar, which draws inspiration from animals such as bats and dolphins.

Vergence sonar

Author  Roman Kuc

Video ID : 301

Two conventional Polaroid sonars are oriented away from the sonar axis by a vergence angle of eight degrees and excited simultaneously every 100 ms. Simple logic determines which sonar detects the echo first - indicated by the red LEDs - and when the echoes arrive within a 3 µs window - indicated by the center yellow LED. The video indicates echoes from the ceiling located at 2 m range. The vergence sonar can determine normal incidence within 0.5 degree over a usable beam width of 46 degrees. Reference: R. Kuc: Binaural sonar electronic travel aid provides vibrotactile cues for landmark, reflector motion and surface texture classification, IEEE Trans. Biomed. Eng. 49(10), 1173-1180 (2002).

Chapter 74 — Learning from Humans

Aude G. Billard, Sylvain Calinon and Rüdiger Dillmann

This chapter surveys the main approaches developed to date to endow robots with the ability to learn from human guidance. The field is best known as robot programming by demonstration, robot learning from/by demonstration, apprenticeship learning and imitation learning. We start with a brief historical overview of the field. We then summarize the various approaches taken to solve four main questions: when, what, who and when to imitate. We emphasize the importance of choosing well the interface and the channels used to convey the demonstrations, with an eye on interfaces providing force control and force feedback. We then review algorithmic approaches to model skills individually and as a compound and algorithms that combine learning from human guidance with reinforcement learning. We close with a look on the use of language to guide teaching and a list of open issues.

Demonstrations and reproduction of the task of juicing an orange

Author  Florent D'Halluin, Aude Billard

Video ID : 29

Human demonstrations of the task of juicing an orange, and reproductions by the robot in new situations where the objects are located in positions not seen in the demonstrations. URL:

Chapter 36 — Motion for Manipulation Tasks

James Kuffner and Jing Xiao

This chapter serves as an introduction to Part D by giving an overview of motion generation and control strategies in the context of robotic manipulation tasks. Automatic control ranging from the abstract, high-level task specification down to fine-grained feedback at the task interface are considered. Some of the important issues include modeling of the interfaces between the robot and the environment at the different time scales of motion and incorporating sensing and feedback. Manipulation planning is introduced as an extension to the basic motion planning problem, which can be modeled as a hybrid system of continuous configuration spaces arising from the act of grasping and moving parts in the environment. The important example of assembly motion is discussed through the analysis of contact states and compliant motion control. Finally, methods aimed at integrating global planning with state feedback control are summarized.

Rollin’ Justin - Mobile platform with variable base

Author  Christoph Borst et al.

Video ID : 369

The video contains a demonstration of a mobile humanoid robotic system and research platform, called "Rollin' Justin", which is enabled with sophisticated control algorithms and equipped with dexterous manipulation.

Chapter 26 — Flying Robots

Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus W. Achtelik, David Lentink, Paul Y. Oh and Roland Siegwart

Unmanned aircraft systems (UASs) have drawn increasing attention recently, owing to advancements in related research, technology, and applications. While having been deployed successfully in military scenarios for decades, civil use cases have lately been tackled by the robotics research community.

This chapter overviews the core elements of this highly interdisciplinary field; the reader is guided through the design process of aerial robots for various applications starting with a qualitative characterization of different types of UAS. Design and modeling are closely related, forming a typically iterative process of drafting and analyzing the related properties. Therefore, we overview aerodynamics and dynamics, as well as their application to fixed-wing, rotary-wing, and flapping-wing UAS, including related analytical tools and practical guidelines. Respecting use-case-specific requirements and core autonomous robot demands, we finally provide guidelines to related system integration challenges.

DelFly II in hover

Author  David Lentink

Video ID : 493

This video shows a DelFly flapping-winged vehicle flying in hover. The vehicle flaps at approximately 14 Hz. The video was filmed at high speed and slowed down. For more information please see D. Lentink, S.R. Jongerius, N.L. Bradshaw: Flying Insects and Robots (Springer, Berlin, Heidelberg 2009).