Textbooks that provide a broad algorithmic perspective on the mechanics and dynamics of robots almost unfailingly serve students at the graduate level. Introduction to Autonomous Robots offers a much-needed resource for teaching third- and fourth-year undergraduates the computational fundamentals behind the design and control of autonomous robots. The authors use a class-tested and accessible approach to present progressive, step-by-step development concepts, alongside a wide range of real-world examples and fundamental concepts in mechanisms, sensing and actuation, computation, and uncertainty. Throughout, the authors balance the impact of hardware (mechanism, sensor, actuator) and software (algorithms) in teaching robot autonomy.

Rigorous and tested in the classroom, Introduction to Autonomous Robots is written for engineering and computer science undergraduates with a sophomore-level understanding of linear algebra, probability theory, trigonometry, and statistics. The text covers topics like basic concepts in robotic mechanisms like locomotion and grasping, plus the resulting forces; operation principles of sensors and actuators; basic algorithms for vision and feature detection; an introduction to artificial neural networks, including convolutional and recurrent variants. The authors have included QR codes in the text guide readers to online lecture videos and animations. The book also features extensive appendices focus on project-based curricula, pertinent areas of mathematics, backpropagation, writing a research paper, and other topics, and is accompanied by a growing library of exercises in an open-source, platform-independent simulation (Webots).

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Reference

Correll, Nikolaus, Bradley Hayes, Christoffer Heckman, and Alessandro Roncone. Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms. MIT Press, 2022. [] 

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Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

Reference

Correll, N.J., Miller, A.K. and Romero, B., Robotics Materials Inc, 2021. Systems, devices, components, and methods for a compact robotic gripper with palm-mounted sensing, grasping, and computing devices and components. U.S. Patent 11,148,295. []

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