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1、SpringerTractsinAdvancedRobotics102Giacomo MaraniJunku YuhIntroductiontoAutonomousManipulationCaseStudywithanUnderwaterRobot,SAUVIMSpringerTractsinAdvancedRoboticsVolume102SerieseditorsB.Siciliano,Napoli,ItalyO.Khatib,Stanford,USAEditorialAdvisoryBoardO.Brock,Ber
2、lin,GermanyH.Bruyninckx,Leuven,BelgiumR.Chatila,Toulouse,FranceH.Christensen,Atlanta,USAP.Corke,KelvinGrove,AustraliaP.Dario,Pisa,ItalyR.Dillmann,Karlsruhe,GermanyK.Goldberg,Berkeley,USAJ.Hollerbach,SaltLakeCity,USAM.Kaneko,Osaka,JapanL.Kavraki,Houston,USAV.Kumar
3、,Philadelphia,USAS.Lee,Seoul,SouthKoreaF.Park,Seoul,SouthKoreaT.Salcudean,Vancouver,CanadaR.Siegwart,Zurich,SwitzerlandG.Sukhatme,LosAngeles,USAS.Thrun,Stanford,USAY.Xu,HongKong,PeoplesRepublicofChinaS.Yuta,Tsukuba,JapanForfurthervolumes:http://www.springer.com/s
4、eries/5208STAR(SpringerTractsinAdvancedRobotics)hasbeenpromotedundertheauspicesofEURON(EuropeanRoboticsResearchNetwork)GiacomoMarani•JunkuYuhIntroductiontoAutonomousManipulationCaseStudywithanUnderwaterRobot,SAUVIM123GiacomoMaraniJunkuYuhWestVirginiaRoboticTechno
5、logyCenterNationalAgendaResearchDivisionWestVirginiaUniversityResearchKoreaInstituteofScienceandTechnologyCorporationSeoulFairmont,WVKoreaUSAISSN1610-7438ISSN1610-742X(electronic)ISBN978-3-642-54612-9ISBN978-3-642-54613-6(eBook)DOI10.1007/978-3-642-54613-6Springe
6、rHeidelbergNewYorkDordrechtLondonLibraryofCongressControlNumber:2014933279ÓSpringer-VerlagBerlinHeidelberg2014Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprintin
7、g,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdeveloped.Exemptedfromthislega
8、lreservationarebriefexcerptsinconnectionwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredandexecutedonacomputersystem,fore
