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Tetrobot

Tetrobot: A Modular Approach To Reconfigurable Parallel Robotics


Robotic systems are characterized by the intersection of computer intelligence with the physical world. This blend of physical reasoning and computational intelligence is well illustrated by the Tetrobot study described in this book. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics describes a new approach to the design of robotic systems. The Tetrobot approach utilizes modular components which may be reconfigured into many different mechanisms which are suited to different applications. The Tetrobot system includes two unique contributions: a new mechanism (a multilink spherical joint design), and a new control architecture based on propagation of kinematic solutions through the structure. The resulting Tetrobot system consists of fundamental components which may be mechanically reassembled into any modular configuration, and the control architecture will provide position control of the resulting structure. A prototype Tetrobot system has been built and evaluated experimentally. Tetrobot arms, platforms, and walking machines have been built and controlled in a variety of motion and loading conditions. The Tetrobot system has applications in a variety of domains where reconfiguration, flexibility, load capacity, and failure recovery are important aspects of the task. A number of key research directions have been opened by the Tetrobot research activities. Continuing topics of interest include: development of a more distributed implementation of the computer control architecture, analysis of the dynamics of the Tetrobot system motion for improved control of high-speed motions, integration of sensor systems to control the motion and shape of the high-dimensionality systems, and exploration of self-reconfiguration of the system. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics will be of interest to research workers, specialists and professionals in the areas of robotics, mechanical systems and computer engineering.



  • Condition: --
    HPB condition ratings
    • New: Item is brand new, unused and unmarked, in flawless condition.
    • Fine/Like New (F): No defects, little usage. May show remainder marks. Older books may show minor flaws.
    • Very Good (VG): Shows some signs of wear and is no longer fresh. Attractive. Used textbooks do not come with supplemental materials.
    • Good (G): Average used book with all pages present. Possible loose bindings, highlighting, cocked spine or torn dust jackets. Used textbooks do not come with supplemental materials.
    • Fair (FR): Obviously well-worn, but no text pages missing. May be without endpapers or title page. Markings do not interfere with readability. Used textbooks do not come with supplemental materials.
    • Poor (P): All text is legible but may be soiled and have binding defects. Reading copies and binding copies fall into this category. Used textbooks do not come with supplemental materials.
    Conditions Guide
  • Format: Paperback
  • Sold by: --
  • Language: English
  • Publisher: Springer-Verlag New York Inc
  • ISBN-13: 9781461374992
  • ISBN: 1461374995
  • Publication Year: 2012
  • Edition: Reprint
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HPB condition ratings
  • New: Item is brand new, unused and unmarked, in flawless condition.
  • Fine/Like New (F): No defects, little usage. May show remainder marks. Older books may show minor flaws.
  • Very Good (VG): Shows some signs of wear and is no longer fresh. Attractive. Used textbooks do not come with supplemental materials.
  • Good (G): Average used book with all pages present. Possible loose bindings, highlighting, cocked spine or torn dust jackets. Used textbooks do not come with supplemental materials.
  • Fair (FR): Obviously well-worn, but no text pages missing. May be without endpapers or title page. Markings do not interfere with readability. Used textbooks do not come with supplemental materials.
  • Poor (P): All text is legible but may be soiled and have binding defects. Reading copies and binding copies fall into this category. Used textbooks do not come with supplemental materials.
Conditions Guide
HPB condition ratings
  • New: Mint condition or still sealed (SS). Absolutely perfect in every way. New.
  • Fine/Like New (EX): No defects, little sign of use, well cared for. Plays perfectly. Close to new. Not necessarily sealed or unused, but close. Could be an unopened promotional or cut item. Sometimes called: mint-minus.
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  • Good (G): Attractive and well cared for, but no longer fresh. Minor signs of wear, scuffing or scratching, but will play almost perfectly. For vinyl: barely detectable crackles or pops.
  • Fair (FR): This item is in okay condition. For vinyl: good is not so good and the record may have low level crackles or pops when playing. CD: one or more tracks may skip.
  • Poor (P): Obviously well-worn and handled. Most vinyl collectors will not buy good or below, but some tracks on CD or vinyl will play.
Conditions Guide
HPB condition ratings
  • New: This movie is unopened and brand new.
  • Fine/Like New (EX): Near new. No defects, little sign of use. Plays perfectly. Not necessarily sealed or unused, but close. No skipping; no fuzzy or snowy frames in VHS.
  • Very Good (VG): Attractive and well cared for but no longer fresh. Minor signs of wear, but will play almost perfectly. For VHS: barely detectable distortion or very few fuzzy or snowy frames.
  • Good (G): This item is in okay condition and basically works well. There may be some minor distortion on VHS tape; slight scratching or wear on DVD.
  • Fair (FR): Basically plays, but may be obviously well-worn with some scratching or tape distortion.
  • Poor (P): Disc or tape is intact, but may be scratched or stretched. There may be skips or distortion or product defects.
Conditions Guide
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