Springer Handbook of Robotics

The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging d

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Handbook Robotics



Siciliano Khatib Editors 2nd Edition Kröger Multimedia Editor

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Springer Handbook of Robotics

Springer Handbooks provide a concise compilation of approved key information on methods of research, general principles, and functional relationships in physical and applied sciences. The world’s leading experts in the fields of physics and engineering will be assigned by one or several renowned editors to write the chapters comprising each volume. The content is selected by these experts from Springer sources (books, journals, online content) and other systematic and approved recent publications of scientific and technical information. The volumes are designed to be useful as readable desk reference book to give a fast and comprehensive overview and easy retrieval of essential reliable key information, including tables, graphs, and bibliographies. References to extensive sources are provided.

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Springer

Handbook of Robotics

Bruno Siciliano, Oussama Khatib (Eds.) 2nd Edition

With 1375 Figures and 109 Tables

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Editors Bruno Siciliano University of Naples Federico II Department of Electrical Engineering and Information Technology Naples, Italy [email protected] Oussama Khatib Stanford University Department of Computer Science Artificial Intelligence Laboratory Stanford, USA [email protected]

ISBN: 978-3-319-32550-7 DOI 10.1007/978-3-319-32552-1

e-ISBN: 978-3-319-32552-1

Library of Congress Control Number:

2016937424

© Springer-Verlag Berlin Heidelberg 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herin or for any errors or omissions that may have been made. Production and typesetting: le-tex publishing services GmbH, Leipzig Handbook Coordination: Dr. J. Hinterberg, Dr. W. Skolaut, Heidelberg Typography and layout: schreiberVIS, Seeheim Illustrations: Hippmann GbR, Schwarzenbruck Cover design: eStudio Calamar Steinen, Barcelona Cover production: WMXDesign GmbH, Heidelberg Printing and binding: PHOENIX PRINT, Würzburg Printed on acid free paper This Springer imprint is published by Springer N