Roderic A. Grupen

Roderic A. Grupen is Professor of Computer Science and Director of the Laboratory for Perceptual Robotics at the University of Massachusetts Amherst.

  • The Developmental Organization of Robot Behavior

    Roderic A. Grupen

    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.

    The book covers motor units, explaining how animals and robots actuate and control their bodies; discusses kinematics and dynamics of articulated sensorimotor mechanisms, including a traditional treatment of the kinematics of grasping; examines the commonly used sensor modalities of vision and touch, comparing them to their biological counterparts; and explores the role of developmental neurology in the first year of life, codifying it in a computational architecture for developmental robotics. Written exercises reinforce the content. Programming projects can be undertaken using a simple robot simulator, “Roger” (named after Paul Churchland's Roger the Crab). Appendixes provide supporting mathematics, including a primer on linear algebra and integral transforms, common methods for deriving the dynamic equation of motion for articulated systems, the basics of numerical relaxation, and an introduction to Q-learning.

    • Hardcover $70.00

Contributor

  • Robotics

    Robotics

    Science and Systems VIII

    Nicholas Roy, Paul Newman, and Siddhartha Srinivasa

    Papers from a flagship conference reflect the latest developments in the field, including work in such rapidly advancing areas as human-robot interaction and formal methods.

    Robotics: Science and Systems VIII spans a wide spectrum of robotics, bringing together contributions from researchers working on the mathematical foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the eighth annual Robotics: Science and Systems (RSS) conference, held in July 2012 at the University of Sydney. The contributions reflect the exciting diversity of the field, presenting the best, the newest, and the most challenging work on such topics as mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

    • Paperback $85.00