Introduction To Robotics Oussama Khatib Pdf

1. Introduction To Robotics Oussama Khatib Pdf
2. Introduction To Robotics Oussama Khatib Lecture Notes Pdf

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses:. the fundamentals: kinematics, statics and trajectory planning; and. the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in:.

dynamics and motion control of robot manipulators;. environmental interaction using exteroceptive sensory data (force and vision);. mobile robots; and. motion planning.

® code for computer problems; these are available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content. Bruno Siciliano is Professor of Control and Robotics at the University of Naples Federico II in Italy, President of the IEEE Robotics and Automation Society, and a Fellow of both IEEE and ASME. He is Co-Editor of the Springer Tracts in Advanced Robotics series, and the Springer Handbook of Robotics. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators, lightweight flexible arms, space robots, human-centered and service robotics. He has co-authored 6 books, 6 edited volumes, and over 240 technical papers. Lorenzo Sciavicco is Professor of Control and Robotics at the Third University of Rome in Italy.

He has been one of the pioneers of robot control research. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation. He has co-authored 3 books, 1 edited volume, and over 100 technical papers. Luigi Villani is Associate Professor of Control and Robotics at the University of Naples Federico II in Italy. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators,and service robotics.

He has co-authored 2 books, 1 edited volume, and over 120 technical papers. Giuseppe Oriolo is Associate Professor of Control and Robotics at the University of Rome 'La Sapienza' in Italy. He is an Editor of the IEEE Transactions on Robotics. His research interests include nonlinear control and robotics, visual servoing, redundant manipulators, mobile and nonholonomic robots, motion planning, sensor-based navigation and exploration, and service robotics.

He has co-authored 2 books and over 120 technical papers. Robotics: Modelling, Planning and Control is a book that comprehensively covers all aspects of robotic fundamentals.

It is particularly an excellent text for graduate educators, as it covers the fundamentals of the field with a rigorous formalism that is well blended with the technological aspects of robotics. The text covers in detail the theory of manipulators and wheeled robots starting with kinematics, dynamics and motion control, as well interaction with the environment through perception - force and vision sensors.

The book is written by technical authorities in the field, and will be in invaluable addition to graduate education as well as a useful guide for industrial practitioners. Alexander Zelinsky, CSIRO, Australia Robotics is a diverse field bringing together disparate areas from computer science, electrical engineering and mechanical engineering. This book is an integrative but rigorous treatment of all the relevant concepts, with an eye toward modern, practical applications making it an excellent choice for a first year graduate course in robotics. Vijay Kumar, University of Pennsylvania This book provides rock-solid foundations for the study of classical mechanics and control of robots, with the authoritative character of a reference where you can surely find the correct expression and the rigorous derivation of the results you need. On top of this, new chapters on motion planning, visual servoing, and mobile robot control provide support to teaching wider and more interdisciplinary aspects of robotics, and open up vistas that will certainly inspire a new generation of scholars to embrace this incredibly rich and fertile research field. Antonio Bicchi, University of Pisa, Italy This book offers a well-balanced and intellectually satisfying treatment of robot mechanics, planning, and control – from the choice and sequence of topics, to the level of detail in the analysis, and the clear connections made between the latest technologies and the theoretical foundations of robotics, this book is an essential element in the library of every aspiring young robotics researcher. Frank Chongwoo Park, Seoul National University Robotics: Modeling, Planning and Control is a historiography from the materialistic view of robotics.

Authors clearly explain physical and mathematical foundation to understand the most up-to-date robotics, so faithfully to bibliography and terminology in robotics. Unquestionably, the best textbook for senior students and graduate students and the closest reference book for engineers and scientists! Yoshihiko Nakamura, University of Tokyo Exceptional! A text with such a span of robotics fundamentals and advanced research in both manipulation and mobility, and a treatment that creatively balances mathematical depth and physical intuition – a fresh and certainly unique reference for researchers and engineers in the field of robotics. Oussama Khatib, Stanford University Certainly because of its youth, robotics is not always considered as a discipline as such. It is often introduced as a technological 'area' integrating various aspects of mechanics, automatic control and computer science. Such a dispersed view is prejudicial for students.

The book by Siciliano et al. Achieves the introduction of the basic concepts in a coherent, self-contained and didactic way. In that sense, when reading Robotics: Modelling, Planning and Control the reader – from the undergraduate student to the researcher – understands that a new discipline is born, with its own foundations. Jean-Paul Laumond, LAAS-CNRS. Book Title Robotics Book Subtitle Modelling, Planning and Control Authors.

Bruno Siciliano. Lorenzo Sciavicco. Luigi Villani.

Giuseppe Oriolo Series Title Copyright 2009 Publisher Springer-Verlag London Copyright Holder Springer-Verlag London eBook ISBN 978-1-84628-642-1 DOI 10.1007/978-1-84628-642-1 Hardcover ISBN 978-1-84628-641-4 Softcover ISBN 978-1-84996-634-4 Series ISSN 1439-2232 Edition Number 1 Number of Pages XXIV, 632 Number of Illustrations and Tables 298 b/w illustrations Topics.

Introduction To Robotics Oussama Khatib Pdf

This article is about Syrians as the majority ethnicity of the country of Syria. For other uses, see. For the population of the country of Syria, see.

For Syrians outside of Syria, see. Syrians سوريون Sūriyyīn Total population c.

18 million in Syria, Syrian ancestry: +10 million Syrian refugees: +6 million Regions with significant populations 17,185,170 4,011,480 2,764,500 1,500,000 1,400,000 1,103,000 1,015,632 600,000 247,861 166,108 154,560 88,204 40,840 40,000 Languages (, ). Religion (mostly, and a minority of and ) (mostly, and a minority of ) Related ethnic groups, Syrians (: سوريون‎), also known as the Syrian people (: الشعب السوري‎: al-sha‘ab al-Sūrī;: ܣܘܪܝܝܢ‎) are the inhabitants of, who share a common ancestry. The cultural and linguistic heritage of the Syrian people is a blend of both indigenous elements and the foreign cultures that have come to rule the land and its people over the course of thousands of years. The Syrian republic has a population of nearly 17 million as of 2014, in addition to 4 million.

The dominant racial group is the Syrian descendants of the old indigenous peoples who with and identify themselves as such in addition to ethnic. The consists of 15 million people of Syrian ancestry, who immigrated to North America ( and ), (including Sweden, France and Germany), South America (mainly in, Venezuela and ), Australia, and Africa.

Contents. Etymology The name 'Syrians' was employed by the and to denote the inhabitants of Syria; however, they called themselves Arameans and Assyrians. The ethnic designation 'Syrian' is derived from the word 'Assyrian' and appeared in the and Roman periods. Some argue that the discovery of the in 2000 seems to support the theory that the term Syria derives from Assyria. The Greeks used the terms 'Syrian' and 'Assyrian' interchangeably to indicate the indigenous, and other inhabitants of the Near East, considered 'Syria' west of the Euphrates. Starting from the 2nd century BC onwards, ancient writers referred to the ruler as the or King of the Syrians. The Seleucids designated the districts of and explicitly as Syria and ruled the Syrians as indigenous populations residing west of the in contrast to Assyrians who had their native in east of the Euphrates.

However, the interchangeability between Assyrians and Syrians persisted during the Hellenistic period. In one instance, the of reserved the term 'Syrian Village' as the name of a settlement in.

The term 'Syrians' is under debate whether it referred to or to Arameans, as the Ptolemies referred to all peoples originating from Modern Syria and as Syrian. The term Syrian was imposed upon Arameans of modern Levant by the Romans. Created the province of, which included modern-day and Syria west of the Euphrates, framing the province as a regional social category with civic implications. Described the indigenous people of this newly created Roman province as 'Syrians', so did, who observed that Syrians resided west of the Euphrates in Roman Syria, and he explicitly mentions that those Syrians are the Arameans, whom he calls Aramaei, indicating an extant ethnicity. In his book The Great Roman-Jewish War, a Hebrew native to the Levant, mentioned the Syrians as the non-Hebrew, non-Greek indigenous inhabitants of Syria. The called Syria and the Levant. The national and ethnic designation 'Syrian' is one that has been reused, accepted and espoused by the Syrian people since the advent of modern nationalism, which emanated from Europe and began with the culmination of the of the early 1800s.

Identity Besides religious identities, the Syrian people are split among three identities, namely the Arab, Syriac, and Syrian identities. Many Muslims and some Arabic-speaking Christians describe themselves as Arabs, while many Aramaic-speaking Christians and a minority of Muslims prefer to describe themselves as Syriacs or Arameans.

Also some people from Syria, mainly, describe themselves only as Syrians. Ethnogenesis. Former Syrian president and his family The inhabitants of Syria descend from the ancient Semitic peoples of antiquity, mainly the Amorites, Arameans, Phoenicians, Palmyrians, Chaldeans and populations from Arabia. The majority of the Syrian people who refer to themselves as Arabs are the result of the linguistic Arabization of Syria following the. And of Syria began in the 7th century, while it took several centuries for Islam, the Arab identity, and language to spread.

Introduction To Robotics Oussama Khatib Lecture Notes Pdf

Syrians welcomed the Arabs as liberators which made Arabisation and conversion faster. The Arabs had a policy of segregating indigenous Syrians from Arab tribes; they built new settlements to accommodate the new tribes which limited the ethnic assimilation of the original 'Arabised' Arameans. Caliph specifically ordered his governor, to settle the new tribes away from the original population. However, the ascendancy of Arabic as the formal language of the state prompted the cultural and linguistic assimilation of Syrian converts. While the showed some religious tolerance, the had a different approach , and by the time of the Crusades (1100 AD) most Syrians adopted Islam and were culturally and linguistically fully Arabised. The new Muslim converts mixed with the Arabs and shifted to an Arab racial identity, but the mixing didn't change the genetic pool dramatically.

Many lost their identity and adopted an Arab racial identity, becoming indistinguishable from the of pre-conquest era, while those who kept their racial characteristics maintained the Syrian identity and are mainly divided between two groups:. Followers of the and; these -speaking Christians the throughout the agesthough today most of them speak Arabic while retaining their racial identity. Syriac is still the liturgical language for most of the different Syriac churches in Syria.

More recently, the Syriac Orthodox Church, which has been historically called 'Syrian', officially changed its English name to 'Syriac' in 2000. The -speaking group, that is, the inhabitants of, and, who retained their racial and linguistic characteristics, whereas the residents of Bakh'a and Jubb'adin are Muslims. In Ma'loula the Christian majority is split in between the and the, in addition to a Muslim minority. Two notable Syrian Christian families in Ma'loula include the Greek Orthodox Naddaf family and the Greek Catholic al-Ahmar family. Genetics Genetic tests on Syrians were included in many genetic studies, the genetic marker which identifies descendants of the ancient Levantines is found among members of all Levantines from different religious groups. Syrian Muslims show a slightly more Arabian genetic influx than their Christian compatriots.

The most common Haplogroup is represented by its subclades (branches) and. The paternal Y-DNA haplogroups J1 (which reaches it highest frequencies in Yemen 72.6% and Qatar 58.3%) accounted for 33.6% of Syrians. J1 has its highest frequency in people belonging to the with 58.8%, while reaching its lowest frequency among the Arameans of Ma'loula with 6.8%.

Other frequencies are 14.7% for, 47.2% for Sunnis of, 14.3% for Syriac Catholics of and 26.7% among the population. The J2 group accounted for 20.8% of Syrians, other Y-DNA haplogroups includes the 12.0%, 5.0%, 10.0% and 15.0%. The Syrian people cluster the closest with the Lebanese, then the Palestinians, Jews and then the Jordanians. Language. For more details on Syrian Arabic, see. Is the mother tongue of a majority of Syrians as well as the official state language.

The Syrian variety of varies little from., the only surviving Western Aramaic language, is still spoken in three villages (, and ) in the Anti-Lebanon Mountains by both Muslim and Christian residents. In the northeast of the country are mainly speakers but there are also some speakers of, especially in the Khabour Valley.

Is also used as a liturgical language by Syriac Christians., and to a lesser extent, is widely understood and used in interactions with tourists and other foreigners. Religion and minority groups. Interview with, The Syrian tradition of coexistence and the present scenario of confrontation Religious differences in Syria have historically been tolerated, and religious minorities tend to retain distinct cultural, and religious identities. Is the religion of 74% of Syrians. The, a variety of, make up 12% of the population and mostly live in and around and. Make up 10% of the country. Most adhere to the; the two largest are the and the.

The are a mountainous people who reside in who helped spark the. The Ismailis are an even smaller sect that originated in Asia. Many Armenian and Assyrian Christians fled during the and the and settled in Syria. There are also roughly 500,000, who are mostly descendants of refugees from the 1948 Israeli-Arab War.

The community of inside Syria once numbered 30,000 in 1947, but has only 200 today. The Syrian people's beliefs and outlooks, similar to those of most Arabs and people of the wider Middle-East, are a mosaic of West and East.

Conservative and liberally minded people will live right next to each other, and hold debates with each other. Like the other countries in the region, religion permeates life; the government registers every Syrian's religious affiliation.

For more details on this topic, see. Syrian cuisine is dominated by ingredients native to the region., and are some of the ingredients that are used in many traditional meals. Traditional Syrian dishes enjoyed by Syrians include, and. Before the main courses, Syrians eat, which is basically an appetizer. Meze is usually served with Arab-style tea - highly concentrated black tea, which is highly sweetened and served in small glass cups.

Another popular drink, especially with Christians and non-practicing Muslims, is the, a liquor produced from grapes or dates and flavored with that can have an alcohol content of over 90% ABV (however, most commercial Syrian arak brands are about 40-60% ABV). Notable people.

For more details on this topic, see. Scientists and theologists., of Damascene Syrian parents.

The first Orthodox bishop to be consecrated in North America., professor of Epidemiology known for developing the., an astronomer and physicist, played a key role in establishing the., Professor of Electrical Engineering and Computer Science at the, received the in 2006. The lead breast surgeon at the London Breast Institute of, professor of Breast Cancer Surgery (The Brunel Institute of Cancer Genetics and Pharmacogenomics)., a and a professor of Computer Science at Stanford University. Received the for Distinguished Service Award (2013)., director of the Wireless Center. Public figures and politicians. (born July 2, 1930), former (1989-1999)., Vice President of Venezuela since 4 January 2017.

(born April 3, 1974), former (2015-act.). (born 1939), was the first woman to serve on the Florida Supreme Court, and the first woman Chief Justice of that court. She currently serves as a on the., American politician, from 2005 to 2013 and President of., widow of King, is of paternal Syrian ancestry., Canadian politician, former member of the. (1931 - 2010), Brazilian Politician. Business. (February 24, 1955 – October 5, 2011), was the co-founder and former of, the largest shareholder, and a member of Disney's.

Jobs was considered a leading figure in both the and industries., American politician and businessman, former, former CEO and chairman of and father of., founder and Chairman of., Mexican businessman, Director of. Entertainment., Canadian singer and songwriter., American pianist., singer and TV personality. (born August 1, 1984), musician and composer. (born March 1, 1970), news anchor and CNN correspondent., Canadian singer and manager, the husband and former manager of singer., American actress and former fashion model.

Of paternal Syrian ancestry., American actor, model, screenwriter and producer. Of partial maternal Syrian ancestry., American actress. Sport., heptathlete, olympic gold medalist., chess grandmaster and four-time United States champion., American ice hockey player, of paternal Syrian descent., American former player., Professional Wrestler. See also. References.