© 2013

Redundancy in Robot Manipulators and Multi-Robot Systems

  • Dejan Milutinović
  • Jacob Rosen

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 57)

Table of contents

  1. Front Matter
    Pages 1-7
  2. Amanda Prorok, Alexander Bahr, Alcherio Martinoli
    Pages 15-33
  3. Ludovic Righetti, Jonas Buchli, Michael Mistry, Mrinal Kalakrishnan, Stefan Schaal
    Pages 35-51
  4. Nicola Bezzo, R. Andres Cortez, Rafael Fierro
    Pages 53-75
  5. Gregory S. Chirikjian
    Pages 77-91
  6. M. Ani Hsieh, T. William Mather
    Pages 93-108
  7. Xiaobo Zhou, Chin Pei Tang, Venkat Krovi
    Pages 109-123
  8. Zhi Li, Hyunchul Kim, Dejan Milutinović, Jacob Rosen
    Pages 201-240
  9. Back Matter
    Pages 0--1

About this book


The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics.

This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields.


Distributed Systems Medical Robotics Mobile Robots Multi-robot Systems Redundancy Redundant Manipulators Robotics Swarm Robotics Wearable Robotics

Editors and affiliations

  • Dejan Milutinović
    • 1
  • Jacob Rosen
    • 2
  1. 1., Applied Mathematics and Statistics DeptUniversity of CaliforniaSanta CruzUSA
  2. 2., Computer Engineering DeptUniversity of CaliforniaSanta CruzUSA

Bibliographic information

  • Book Title Redundancy in Robot Manipulators and Multi-Robot Systems
  • Editors Dejan Milutinović
    Jacob Rosen
  • Series Title Lecture Notes in Electrical Engineering
  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-642-33970-7
  • Softcover ISBN 978-3-642-44139-4
  • eBook ISBN 978-3-642-33971-4
  • Series ISSN 1876-1100
  • Series E-ISSN 1876-1119
  • Edition Number 1
  • Number of Pages VIII, 244
  • Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
    Computational Intelligence
  • Buy this book on publisher's site
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From the reviews:

“A topic of great interest to the robotics community--multi-robot systems, or redundant robotic systems--is addressed in this book. … The audience for this book is mostly those involved in cutting-edge research. I also recommend it to students who are thinking about a possible topic for their master’s or PhD thesis.” (Ramon Gonzalez Sanchez, ACM Computing Reviews, January, 2013)