商品描述
This textbook explores the foundational principles of robotics, focusing on its core pillars: modeling, planning, and control. Balancing mathematical rigor and physical intuition, a coherent formalism is established and used throughout the book. At the same time, technological challenges and application-driven solutions are given appropriate consideration. With a general perspective that includes both fixed-base manipulators and mobile robots, the book presents the essential tools for understanding key topics such as kinematics, statics, trajectory planning, dynamics, and motion control. In its second part, more advanced topics are addressed, including wheeled robots, visual control, motion planning, force control, flexible robots and cooperative manipulation. To support the learning process, appendices provide essential background material on linear algebra, mechanics, differential geometry, control theory, and graph search algorithms. The practical implementation of the methodologies is emphasized throughout, with over 50 worked examples and case studies, many supported by simulations. Additionally, more than 190 end-of-chapter problems are included, with a Solutions Manual available for instructors adopting the book for their courses. Foundations of Robotics is designed for use as a textbook in both undergraduate and graduate robotics courses within engineering programs, making it an ideal resource for students and educators alike.
商品描述(中文翻譯)
這本教科書探討機器人的基本原則，重點在於其核心支柱：建模、規劃和控制。在數學嚴謹性與物理直覺之間取得平衡，建立了一個一致的形式主義，並在整本書中使用。同時，對於技術挑戰和應用驅動的解決方案也給予了適當的考量。
本書從一般的角度出發，涵蓋固定基座的操作臂和移動機器人，提供理解關鍵主題所需的基本工具，如運動學、靜力學、軌跡規劃、動力學和運動控制。在第二部分中，探討了更高級的主題，包括輪式機器人、視覺控制、運動規劃、力控制、柔性機器人和協作操作。
為了支持學習過程，附錄提供了線性代數、力學、微分幾何、控制理論和圖搜尋演算法的基本背景資料。整本書強調方法論的實際實施，包含超過50個實作範例和案例研究，許多範例都有模擬支持。此外，還包括190多個章末問題，並為採用本書的教師提供了解答手冊。
機器人學基礎 設計用作工程課程中本科生和研究生的教科書，是學生和教育工作者的理想資源。
作者簡介
Bruno Siciliano is Professor of Robotics at University of Naples Federico II, where he is the Director of PRISMA Lab. He is also Honorary Professor at Óbuda University, where he holds the Kálmán Chair. He is a Fellow of IEEE, ASME, IFAC, AIIA and AAIA. He has received wide international recognition including the recent IEEE RAS Pioneer in Robotics and Automation Award (2024) and Engelberger Award (2022). He has published over 450 journal and conference papers and 24 books. His book Robotics: Modelling, Planning and Control is one of the most widely adopted textbooks worldwide and has been translated into Chinese, Greek and Italian. He is co-editor of the Springer Tracts in Advanced Robotics series and the Springer Proceedings in Advanced Robotics series. He has co-edited the Springer Handbook of Robotics that has received the AAP PROSE Award for Excellence in Physical Sciences & Mathematics and has also been the winner in the category Engineering & Technology (2009). He has delivered over 30 keynotes and 150 invited talks at institutions worldwide. His research team has been granted over 25 European projects, including a Synergy Grant and an Advanced Grant from the European Research Council. He has served the IEEE Robotics and Automation Society as President (2008‒2009), Vice-President for Technical Activities (2000‒2003) and Vice-President for Publications (2008), as a member of the AdCom (1996‒1999, 2005), and as a Distinguished Lecturer (2004‒2007). He has served on the Editorial Boards of several journals as well as Chair or Co-Chair for numerous international conferences. He has been a Board Director of the European Robotics Association (2013‒2021). Professor Siciliano is currently an IFAC Pavel J. Nowacki Distinguished Lecturer, a member of the International Foundation of Robotics Research Board, and a member of the Nature Italy Board of Trustees. Luigi Villani is Professor of Control and Robotics at University of Naples Federico II. He is one of the founders of PRISMA Lab. He has published over 200 papers in international journals and conferences, and he has co-authored three textbooks, one of which is the well-known Robotics: Modelling, Planning and Control. He is a contributing author to the award-winning Springer Handbook of Robotics and of the book Robotics Goes MOOC: Knowledge. He has been Associate Editor of IEEE Transactions on Robotics (2007‒2011), IEEE Transactions on Control Systems Technology (2005‒2011), and IEEE Robotics and Automation Letters (2016‒2017), and he has served on the Program Committee of many international conferences. Giuseppe Oriolo is Professor of Control and Robotics at Sapienza University of Rome, where he is the Director of DIAG Robotics Lab. He is an IEEE Fellow. He has published over 230 papers in international journals and conferences, with four best paper awards. He has co-authored two textbooks, one of which is the well-known Robotics: Modelling, Planning and Control. He is a contributing author to the award-winning Springer Handbook of Robotics. He has been Associate Editor (2001‒2005) and Senior Editor (2009‒2014) of the IEEE Transactions on Robotics, Area Chair for the RSS conference series (2008‒2009), Editor of the Conference Paper Review Board for the IROS Conference series (2014‒2016). He has served on the Program Committees of numerous international conferences. Alessandro De Luca is Professor of Automation and Robotics at Sapienza University of Rome, where he has been the first Director of the Master in Control Engineering (2014‒2019). He is an IEEE Life Fellow. He has published over 240 papers in international journals and conferences, with four best paper awards. He is a contributing author to the award-winning Springer Handbook of Robotics. He has received the Helmholtz-Humboldt Research Award (2005) and the IEEE George Saridis Leadership Award in Robotics and Automation (2019). He has been the founding Editor-in-Chief of the IEEE Transactions on Robotics (2004‒2008) and Vice-President for Publication Activities of the IEEE Robotics and Automation Society (2012‒2013). He has been the General Chair of ICRA 2007, the Program Chair of ICRA 2016, and the Chair of the Panel in Systems and Communication Engineering for Advanced Grants of the European Research Council (2009‒2013). He has been the Coordinator of the European research project SAPHARI (2011‒2015) on safe physical human‒robot interaction.
作者簡介(中文翻譯)
布魯諾·西基利亞諾是那不勒斯費德里科二世大學的機器人學教授，並擔任PRISMA實驗室的主任。他同時也是奧布達大學的名譽教授，擔任卡爾曼講座。他是IEEE、ASME、IFAC、AIIA和AAIA的會士。他獲得了廣泛的國際認可，包括最近的IEEE RAS機器人與自動化先驅獎（2024年）和恩格爾伯格獎（2022年）。他已發表超過450篇期刊和會議論文，以及24本書籍。他的書籍機器人學：建模、規劃與控制是全球最廣泛採用的教科書之一，並已翻譯成中文、希臘文和義大利文。他是Springer Tracts in Advanced Robotics系列和Springer Proceedings in Advanced Robotics系列的共同編輯。他共同編輯的Springer Handbook of Robotics獲得了AAP PROSE卓越獎（物理科學與數學類），並在工程與技術類別中獲得了獎項（2009年）。他在全球各機構發表了超過30場主題演講和150場受邀演講。他的研究團隊獲得了超過25個歐洲項目，包括來自歐洲研究委員會的協同補助金和高級補助金。他曾擔任IEEE機器人與自動化學會的會長（2008-2009）、技術活動副會長（2000-2003）和出版副會長（2008），以及AdCom成員（1996-1999，2005），並擔任傑出講者（2004-2007）。他曾在多本期刊的編輯委員會任職，並擔任多個國際會議的主席或共同主席。他曾是歐洲機器人協會的董事會成員（2013-2021）。西基利亞諾教授目前是IFAC Pavel J. Nowacki傑出講者、國際機器人研究基金會的成員，以及Nature Italy董事會的成員。 路易吉·維拉尼是那不勒斯費德里科二世大學的控制與機器人學教授。他是PRISMA實驗室的創始人之一。他在國際期刊和會議上發表了超過200篇論文，並共同撰寫了三本教科書，其中一本是著名的機器人學：建模、規劃與控制。他是獲獎的Springer Handbook of Robotics和書籍機器人學進入MOOC：知識的貢獻作者。他曾擔任IEEE Transactions on Robotics（2007-2011）、IEEE Transactions on Control Systems Technology（2005-2011）和IEEE Robotics and Automation Letters（2016-2017）的副編輯，並在許多國際會議的程序委員會中任職。 朱塞佩·奧里奧洛是羅馬薩賓納大學的控制與機器人學教授，並擔任DIAG機器人實驗室的主任。他是IEEE會士。他在國際期刊和會議上發表了超過230篇論文，並獲得四項最佳論文獎。他共同撰寫了兩本教科書，其中一本是著名的機器人學：建模、規劃與控制。他是獲獎的Springer Handbook of Robotics的貢獻作者。他曾擔任IEEE Transactions on Robotics的副編輯（2001-2005）和高級編輯（2009-2014），並擔任RSS會議系列的區域主席（2008-2009），以及IROS會議系列的會議論文審查委員會編輯（2014-2016）。他曾在多個國際會議的程序委員會中任職。 亞歷山德羅·德·盧卡是羅馬薩賓納大學的自動化與機器人學教授，並曾擔任控制工程碩士課程的首任主任（2014-2019）。他是IEEE終身會士。他在國際期刊和會議上發表了超過240篇論文，並獲得四項最佳論文獎。他是獲獎的Springer Handbook of Robotics的貢獻作者。他曾獲得赫爾姆霍茲-洪堡研究獎（2005年）和IEEE喬治·薩里迪斯機器人與自動化領導獎（2019年）。他曾擔任IEEE Transactions on Robotics的創始主編（2004-2008）和IEEE機器人與自動化學會的出版活動副會長（2012-2013）。他曾擔任ICRA 2007的總主席、ICRA 2016的程序主席，以及歐洲研究委員會高級補助金的系統與通信工程小組主席（2009-2013）。他曾擔任歐洲研究項目SAPHARI（2011-2015）的協調員，該項目專注於安全的人機互動。
