Preface

Chapter 8 **Laser Graphics in Augmented Reality Applications for Real-**

Chapter 10 **Series Elastic Actuator: Design, Analysis and Comparison 203**

Chapter 12 **CODA Algorithm: An Immune Algorithm for Reinforcement**

Gerald Seet, Viatcheslav Iastrebov, Dinh Quang Huy and Pang Wee-

Chadi Mansour, Mohamad El Hariri, Imad H. Elhajj, Elie Shammas

Arnaldo Gomes Leal Junior, Rafhael Milanezi de Andrade and

Daniel R. Ramirez Rebollo, Pedro Ponce Cruz and Arturo Molina

**World Robot Deployment 165**

Chapter 9 **Dynamic Optimized Bandwidth Management for Teleoperation of Collaborative Robots 181**

Chapter 11 **Fish-Like Robot Encapsulated by a Plastic Film 235**

Ching

**VI** Contents

and Daniel Asmar

Antônio Bento Filho

**Learning Tasks 253**

Mizuho Shibata

Robotics is a rapidly growing, interdisciplinary research area. This book presents some state-ofthe art research ideas and findings in a wide range of robotics. The book contains 12 chapters written by experts and researchers in respective fields. The topics cover from design, modeling, control, learning, to applications of UAVs, USVs, mobile robots, humanoid robots, and underwa‐ ter robots. The book is suitable for graduate students, researchers, and industrial practitioners in the field of robotics. The main contents of this book are as follows.

The first chapter describes the design and implementation of a fully autonomous quadrocopter, which is capable of self-reliant search, count, and localization of a predefined object; and chapter 2 designs a flooding disaster oriented unmanned surface vehicle to handle unknown dynamics and trajectory tracking control in complicated surroundings.

Chapter 3 presents a compliance effect of dynamic humanoid robot walking developed using muscles in the knees of a 3D simulated biped robot; and a kinematic analysis is introduced in chapter 4 for the triangle-star robot with telescopic arm and kinematics chains.

Chapter 5 describes an implementation methodology to improve the feature initialization process in monocular SLAM; a state estimator is studied in chapter 6 for robust GNSS-aided navigation; and chapter 7 presents a multi-robot formulation for optimal control of mobile robots.

Chapter 8 describes a technique of using laser outline graphics to augmented reality applications in a shared humans and robots environment; a real-time dynamic and optimized bandwidth management algorithm is proposed in chapter 9 for teleoperated collaborative robots; and chap‐ ter 10 analyzes the series elastic actuator for dynamic robot applications in a non-structured en‐ vironment.

Chapter 11 describes a small-sized underwater robot, with detailed specification and control mechanism, to improve the spatial resolution of undersea measurements; and the last chapter proposes a cognition algorithm for reinforcement learning and applies it to a humanoid hand grasping tasks.

### **Acknowledgements**

The editor would like to thank all authors who have invested tremendous time in writing these high quality chapters. I really appreciate all reviewers for their time and professional comments and suggestions, especially Dr. Yao Sui, Mr. Yuanwei Wu, and Mr. Sushil Pratap Bharati. The book could not have been completed without the excellent support of Ms. Danijela Duric and Ms. Viktorija Zgela at InTech. I also wish to show my gratitude to everyone who helped throughout the preparation of this book.

> **Dr. Guanghui Wang** Electrical Engineering and Computer Science University of Kansas
