The Developmental Organization of Robot Behavior
- Length: 402 pages
- Edition: 1
- Language: English
- Publisher: The MIT Press
- Publication Date: 2023-03-14
- ISBN-10: 0262073005
- ISBN-13: 9780262073004
- Sales Rank: #3371338 (See Top 100 Books)
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.
Series Page Title Page Copyright Contents Preface Acknowledgments 1. Introduction 1.1. Knowledge and Representation 1.2. Embodied Cognitive Systems 1.3. Developmental Robotics Example: Learning to Walk: A Developmental Conspiracy 1.4. Frontiers in Robotics 1.5. Organization of the Book 1.6. Exercises I. Motor Units 2. Actuation 2.1. Muscle 2.1.1. The Contractile Proteins 2.1.2. The Sliding Filament Model 2.1.3. Active and Passive Muscle Dynamics 2.2. Robot Actuators 2.2.1. Permanent Magnet DC Electric Motors Example: Torque-Speed Calculation 2.2.2. Hydraulic Actuators 2.2.3. Pneumatic Actuators 2.2.4. Emerging Actuator Technologies 2.3. Exercises 3. Closed-Loop Control 3.1. The Closed-Loop Spinal Stretch Reflex 3.1.1. Spinal Processing 3.1.2. Motor Nuclei 3.2. The Canonical Spring-Mass-Damper 3.2.1. Equation of Motion: The Harmonic Oscillator 3.2.2. Stability: Lyapunov’s Direct Method Example: Stability Analysis for the Spring-Mass-Damper 3.3. Proportional-Derivative Feedback Control 3.3.1. A Primer for Laplace Transforms 3.3.2. Stability in the Time-Domain 3.3.3. The Transfer Function, SISO Filters, and the Time-Domain Response Example: Closed-Loop Oculomotor Transfer Function 3.3.4. The Performance of Proportional-Derivative Controllers Example: Controlling Eye Movements 3.4. Exercises Part I Summary: Muscles, Motors, and Control II. Structure in Kinodynamic Systems 4. Kinematic Systems 4.1. Terminology 4.2. Spatial Tasks Example: Kinematic Description of Roger-the-Crab 4.3. Homogeneous Transforms 4.3.1. Translational Components 4.3.2. Rotational Components 4.3.3. Inverting the Homogeneous Transform 4.4. Manipulator Kinematics 4.4.1. Forward Kinematics Example: Forward Kinematics of the Planar 2R Manipulator 4.4.2. Inverse Kinematics Example: Geometric Inverse Kinematic Solution for the Planar 2R Manipulator 4.5. Kinematics of Stereo Reconstruction 4.5.1. Pinhole Camera: Projective Geometry 4.5.2. Binocular Localization: Forward Kinematics Example: Stereo Localization in the Plane 4.6. Hand-Eye Kinematic Transformations 4.7. Kinematic Conditioning 4.7.1. Jacobian 4.7.2. The Manipulator Jacobian Example: First-Order Velocity Control for the Planar 2R Manipulator Example: Velocity and Force Ellipsoids for Roger 4.7.3. Stereo Localizability Example: Roger’s Oculomotor Jacobian and Stereo Localizability 4.8. Kinematic Redundancy Example: Self-Motion Manifold 4.9. Exercises 5. Hands and Kinematic Grasp Analysis 5.1. The Human Hand 5.2. Kinematic Innovations in Robot Hands 5.3. Mathematical Description of Multiple Contact Systems 5.3.1. Screw Systems Example: Twist Constraints on Object Mobility in a Planar Grasp 5.3.2. The Grasp Jacobian 5.3.3. Contact Types 5.3.4. The Generalized Grasp Jacobian Example: The Two-Contact Grasp Jacobian 5.3.5. Grasp Performance: Form and Force Closure Example: Solving for Forces in Force Closure Grasps 5.4. Exercises 6. Dynamics of Articulated Systems 6.1. Newton’s Laws 6.2. The Inertia Tensor Example: Rotational Moment of Inertia 6.2.1. The Parallel Axis Theorem Example: Translating the Center of Rotation 6.2.2. Rotating the Inertia Tensor 6.3. The Computed Torque Equation Example: Dynamic Model of Roger’s Eye Example: Dynamic Model of Roger’s Arm 6.3.1. Simulation 6.3.2. Feedforward Control 6.3.3. Analysis: The Dynamic Manipulability Ellipsoid Example: Gravity and Roger 6.4. Exercises Part II Summary: The Kinodynamic Affordances of Embodied Systems III. Structure in Sensory Feedback 7. Stimuli and Sensation: Organs of Visual and Tactile Perception 7.1. Light 7.1.1. Image Formation 7.1.2. The Evolution of the Human Eye 7.1.3. Photosensitive Image Planes 7.2. Touch 7.2.1. Cutaneous Mechanoreceptors 7.2.2. Robotic Tactile Sensing 7.3. Exercises 8. Signals, Signal Processing, and Information 8.1. Sampling Continuous Signals Example: Spectral Properties of the Human Voice 8.1.1. The Sampling Theorem 8.2. Discrete Convolution Operators 8.2.1. Spectral Filtering 8.2.2. Frei and Chen Signal Decomposition Operators 8.2.3. Noise, Differentiation, and Differential Geometry Example: Edge Sharpening 8.3. Structure and Causality in Signals 8.3.1. Gaussian Operators 8.3.2. The Gaussian Pyramid: Blobs 8.3.3. Multi-Scale Edges, Ridges, and Corners 8.4. Exercises Part III Summary: Transducers, Signals, and Perceptual Structure IV. Sensorimotor Development 9. Infant Neurodevelopmental Organization 9.1. The Evolution of the Brain 9.2. Hierarchy in the Neocortex 9.3. Neurodevelopmental Organization 9.3.1. Limbic Reflexes: Visceral, Vegetative, and Behavioral 9.3.2. Spinal- and Brainstem-Mediated Reflexes 9.3.3. Bridge Reflexes 9.3.4. Postural Reflexes 9.3.5. Maturational Processes 9.4. Developmental and Functional Chronology in the First Year 9.5. Sensory and Cognitive Milestones 9.5.1. Sensory Performance 9.5.2. Cognitive Development in the Sensorimotor Stage 9.6. Exercises 10. A Computational Framework for Experiments in Developmental Learning 10.1. Parametric Closed-Loop Reflexes 10.1.1. Potential Functions: ϕ 10.1.2. Closed-Loop Actions: φ|στ 10.1.3. A Taxonomy of Parametric Actions Example: Manipulability Reflex 10.1.4. Co-Articulation: Multi-Objective Control Example: The Mechanics of Human Finger Movement 10.1.5. States: γ(φ, φ) Example: Representing Grasp Dynamics 10.2. A Multimodal Landscape of Attractors Example: Multi-Objective Visual Inspection Task 10.2.1. Reinforcement Learning in a Landscape of Attractors 10.2.2. Skills 10.3. Exercises 11. Case Study: Learning to Walk 11.1. Thing: A Quadruped 11.2. Controllers and Control Combinatorics 11.3. Locomotion Controllers 11.3.1. Aggregate State Representation Example: Logical Organization of Locomotor Skills 11.4. Learning the ROTATE Skill 11.5. The STEP Skill 11.6. Hierarchical WALK and NAVIGATE Skills 11.7. Developmental Performance: Hierarchical Gross Motor Skills Part IV Summary: Foundations for Hierarchical Skills Appendix A. Tools for Linear Analysis A.1. Linear Algebra A.2. Matrix Inverse A.3. Definiteness A.4. Hessian A.5. Matrix Norms A.6. Quadratic Forms Example: Plotting the Quadratic Form A.7. Singular Value Decomposition A.8. Scalar Condition Metrics for Linear Transforms A.8.1. Minimum Singular Value A.8.2. Condition Number A.8.3. Volume A.8.4. Radius Example: Scalar Conditioning Metrics Applied to Roger’s Arm A.9. The Pseudoinverse A.10. Linear Integral Transforms A.10.1. Complex Numbers A.10.2. Fourier Transform A.10.3. Laplace Transform Example: Laplace Transform of an Exponential Function f(t)=et Example: Laplace Transform of the Unit Step Function f(t)=1, t≥0 A.11. Time-Domain Responses for the Harmonic Oscillator Example: Time-Domain Response of the Spring-Mass-Damper Example: The Root Locus Diagram for the PD Control System A.11.1. Frequency-Dependent Amplitude and Phase Response A.11.2. Stiffness and Impedance Appendix B. The Dynamics of Kinematic Chains B.1. Deriving the Inertia Tensor B.2. Inertial Coordinate Frames B.3. Rotating Coordinate Systems B.4. Newton-Euler Iterations B.4.1. Propagating Velocities in Open Kinematic Chains B.4.2. Propagating Force in Open Kinematic Chains B.4.3. The Outward-Inward Iteration Example: The Computed Torque Equation for the Planar 2R Manipulator B.5. Lagrangian Mechanics Appendix C. Numerical Methods for Solving Laplace’s Equation Example: A Collision-Free Arm Controller for Roger Bibliography Index Series List
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