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New Robotics Research
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Editors: Ean D. Wagner and Lawrence G. Kovacs
Book Description:
Up to now, industrial robots have drastically rationalized many kinds of manufacturing processes in industrial fields. The user interface provided by the robot maker has been almost limited to so-called teaching pendant - a useful and safe tool to obtain the position and orientation at the tip of a robot along a desired trajectory. This book examines a position/force control system, first designed for industrial robots with an open architecture controller. In addition, this book provides an analysis of various tracking techniques (optical, electromagnetic, ultrasonic and laser-based) in different environments and surgical fields. An overview of registration algorithms is also given, with an analysis of theoretical registration error-distribution followed by practical design considerations for an accurate registration set-up. The authors of this book also summarize the registration methods used for commercial and research surgical robots. Other chapters assess the development of a system of haptic forceps with bilateral control, allowing tactile sensation to be precisely and immediately imparted to the surgeon's hands. The authors believe that the results of the study will provide useful data for surgery and will contribute to the future development of robotic forceps with tactile sensation.

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Table of Contents:
Preface

Development of Haptic Forceps for Robotic Surgery, pp. 1-12
(Junya Oguma, Soji Ozawa, Yasuhide Morikawa, Yuko Kitagawa, Kouhei Ohnishi Department of Surgery, School of Medicine, Keio University, and others)

A Honeybee Inspired Heterogeneous Foraging Swarm Model, pp. 13-32
(Jia Song, Shengwei Yu, Li Xu, College of Electrical Engineering, Zhejiang University, P.R. China)

A Platform for Developing Autonomy Technologies for Small Military Robots, pp. 33-62 (Gary Haas, Jason Owens, and Jim Spangler, Vehicle Technology Directorate, ARL)

Polymer Materials for Ground Mobile Millimeter-Scale Robotics, pp. 63-76 (Ryan Rudy, Ronald G. Polcawich, and Jeff Pulskamp, Sensors and Electron Devices Directorate, ARL)

Real Time Panoramic Depth Imaging from Multiperspective Panoramas using Standard Cameras, pp. 77-106
(Peter Peer, Franc Solina, University of Ljubljana, Faculty of Computer and Information Science, Ljubljana, Slovenia)

Registration Techniques for Image Guided Robotic Surgery, pp. 107-130
(Aleksandra Popovic, Karen I. Trovato, Philips Research North America, Briarcliff Manor, NY)

Position/Force Control and Its Application to Open Architectural Industrial Robots, pp. 131-183
(Fusaomi Nagata, Keigo Watanabe, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Kunihiro Tsuda, Osamu Tsukamoto, Masaki Komino, Yukihiro Kusumoto, Tokyo University of Science, Yamaguchi, Japan, and others)

Index pp.183-191

   Binding: Hardcover
   Pub. Date: 2010
   Pages: 191.pp
   ISBN: 978-1-60741-093-5
   Status: AV
  
Status Code Description
AN Announcing
FM Formatting
PP Page Proofs
FP Final Production
EP Editorial Production
PR At Prepress
AP At Press
AV Available
  
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