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Collision detection for robot manipulatorsmethods and algorithms /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Collision detection for robot manipulatorsby Kyu Min Park, Frank C. Park.
其他題名:	methods and algorithms /
作者:	Park, Kyu Min.
其他作者:	Park, Frank C.
出版者:	Cham :Springer Nature Switzerland :2023.
面頁冊數:	1 online resource (xx, 122 p.) :ill. (some col.), digital ;24 cm.
Contained By:	Springer Nature eBook
標題:	Manipulators (Mechanism)
電子資源:	https://doi.org/10.1007/978-3-031-30195-7
ISBN:	9783031301957$q(electronic bk.)

Collision detection for robot manipulatorsmethods and algorithms /
Park, Kyu Min.

Collision detection for robot manipulatorsmethods and algorithms /[electronic resource] :by Kyu Min Park, Frank C. Park. - Cham :Springer Nature Switzerland :2023. - 1 online resource (xx, 122 p.) :ill. (some col.), digital ;24 cm. - Springer tracts in advanced robotics,v. 1551610-742X ;. - Springer tracts in advanced robotics ;v. 13.

Introduction -- Fundamentals -- Model-Free and Model-Based Methods -- Learning Robot Collisions -- Enhancing Collision Learning Practicality -- Conclusion.

This book provides a concise survey and description of recent collision detection methods for robot manipulators. Beginning with a review of robot kinodynamic models and preliminaries on basic statistical learning methods, the book covers fundamental aspects of the collision detection problem, from collision types and collision detection performance criteria to model-free versus model-based methods, and the more recent data-driven learning-based approaches to collision detection. Special effort has been given to describing and evaluating existing methods with a unified set of notation, systematically categorizing these methods according to a basic set of criteria, and summarizing the advantages and disadvantages of each method. This book is the first to comprehensively organize the growing body of learning-based collision detection methods, ranging from basic supervised learning methods to more advanced approaches based on unsupervised learning and transfer learning techniques. Step-by-step implementation details and pseudocode descriptions are provided for key algorithms. Collision detection performance is measured with respect to both conventional criteria such as detection delay and the number of false alarms, as well as criteria that measure generalization capability for learning-based methods. Whether it be for research or commercial applications, in settings ranging from industrial factories to physical human-robot interaction experiments, this book can help the reader choose and successfully implement the most appropriate detection method that suits their robot system and application.

ISBN: 9783031301957$q(electronic bk.)

Standard No.: 10.1007/978-3-031-30195-7doiSubjects--Topical Terms:

238424
Manipulators (Mechanism)

LC Class. No.: TJ211.43

Dewey Class. No.: 629.8933

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