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Description
(Text)
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.
A list of errata for this book can be found at https://drive.google.com/file/d/1dwZ6LvN4hf2lfE4CGft3HtCI54Ga6xq9
(Table of content)
Introduction.- Kinematics.- Differential Kinematics and Statics.- Trajectory Planning.- Dynamics.- Motion Control.- Wheeled Mobile Robots.- Visual Control.- Motion Planning.- Force Control .- Manipulators with Flexible Joints.- Cooperative Manipulation.- Appendices: Linear Algebra; Mechanics; Differential Geometry; Control Theory; Graph Search Algorithms.
(Author portrait)
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.
