© 2014

Introduction to Autonomous Manipulation

Case Study with an Underwater Robot, SAUVIM


  • Top of research in submersible/underwater robotics

  • Written of leading experts in this fiel

  • State of the Art Book


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 102)

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Giacomo Marani, Junku Yuh
    Pages 1-6
  3. Giacomo Marani, Junku Yuh
    Pages 7-52
  4. Giacomo Marani, Junku Yuh
    Pages 53-78
  5. Giacomo Marani, Junku Yuh
    Pages 79-105
  6. Giacomo Marani, Junku Yuh
    Pages 107-122
  7. Giacomo Marani, Junku Yuh
    Pages 123-156
  8. Back Matter
    Pages 157-162

About this book


“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics.

This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples and experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.


Autonomous Manipulation Underwater Robotics

Authors and affiliations

  1. 1.West Virginia University Research CorporationWest Virginia Robotic Technology CenterFairmontUSA
  2. 2.Korea Institute of Science and TechnologyNational Agenda Research DivisionSeoulKorea, Republic of (South Korea)

Bibliographic information

  • Book Title Introduction to Autonomous Manipulation
  • Book Subtitle Case Study with an Underwater Robot, SAUVIM
  • Authors Giacomo Marani
    Junku Yuh
  • Series Title Springer Tracts in Advanced Robotics
  • Series Abbreviated Title Spr.Tracts in Adv.Robotics
  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2014
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-642-54612-9
  • Softcover ISBN 978-3-662-51813-7
  • eBook ISBN 978-3-642-54613-6
  • Series ISSN 1610-7438
  • Series E-ISSN 1610-742X
  • Edition Number 1
  • Number of Pages XVII, 162
  • Number of Illustrations 3 b/w illustrations, 73 illustrations in colour
  • Topics Control, Robotics, Mechatronics
    Artificial Intelligence
    Systems Theory, Control
  • Buy this book on publisher's site
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“The present book is devoted to autonomous manipulation systems … . Every chapter ends with references and at the end of the book a short index is given. After reading this book the reader will be convinced that the intended audience for it consists of control scientists and control engineers as well as graduate and Ph.D. students in the area of advanced robotics.” (Clementina D. Mladenova, Mathematical Reviews, August, 2015)