This volume deals with core problems in robotics, like motion planning, sensor-based planning, manipulation, and assembly planning. It also discusses the application of robotics algorithms in other domains, such as molecular modeling, computer graphics, and image analysis. Topics Include: - Planning - Sensor Based Motion Planning - Control and Motion Planning - Geometric Algorithms - Visibility - Minimalism and Controllability - Algorithms for Manufacturing - Contact and Tolerancy - Beyond Robotics

How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths;...

In all such fields the purpose is to express an intention about a dance, a specific motion or an action to perform, in terms of intelligible sequences of elementary movements, as a music score that would be devoted to motion representation.

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis.

In all such fields the purpose is to express an intention about a dance, a specific motion or an action to perform, in terms of intelligible sequences of elementary movements, as a music score that would be devoted to motion representation.

Bernstein in the 60's on the existence of motor synergies, numerous researchers "walking on the border" of their disciplines tend to discover laws and principles underlying the human motions and how the brain reduces the redundancy of the system.