1. Introduction.
Introduction to Robotics.
History of Robotics.
Current research in Robotics around the world.
Classification of Robotics.
Robotic Arm.
Wheeled Mobile Robots.
Legged Robot.
Underwater robots.
Flying Robots.
Robot Vision.
Artificial Intelligence.
Automation.
An overview of the book.
Future of Robotics
2. Basic Mechanics.
Introduction to theory of machines and mechanisms.
Some popular mechanisms.
Gear and gear trains.
Kinematic analysis of mechanisms.
Synthesis of mechanism.
A practical guide to use various mechanisms.
3. Basic Electronics.
Introduction to Electronics.
Some basic Elements.
Steps of developing a project on a bread board.
Sensors.
Using the parallel port of the computer.
Using the serial port of the computer.
Using the microcontroller.
Actuators.
Using the things found in the neighborhood for the projects.
4. Wheeled Mobile Robot.
Introduction.
Classification of WMR.
Kinematics and Mathematical modeling of WMR.
Control of WMR.
Simulation of WMR using MATLAB.
Developing the Software and hardware model of an all purpose research WMR
5. Kinematics of Robotic Manipulator.
Introduction to Robotic Manipulator.
Position and Orientation of Objects in space.
Forward Kinematics.
Inverse Kinematics.
Building robots using the kinematics.
6. Legged Robots.
Why to study Legged Robots?
Balance of legged Robots.
Dynamic Balance and Inverse Pendulum model.
Analysis of gaits in Legged Animals.
Kinematics of Leg Design.
Dynamic considerations of Leg design
7. Perception.
Classification of Sensors.
Encoders and Dead Reckoning.
Infrared Sensor.
Radiofrequency Sensors.
Sonar.
Active Beacons.
Digital Compass.
Electronic Acceleretometer.
Electronic Gyroscope.
Laser Rangefinder.
Vision based Sensors.
Practical examples.
Appendix.
Index.
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