Roderic A. Grupen is Professor of Computer Science and Director of the Laboratory for Perceptual Robotics at the University of Massachusetts Amherst.

Preface xv
Acknowledgments xxi
1 Introduction 1
I MOTOR UNITS
2 Actuation 17
3 Closed-Loop Control 47
Part I Summary: Muscles, Motors, and Control 76
II STRUCTURE IN KINODYNAMIC SYSTEMS
4 Kinematic Systems
5 Hands and Kinematic Grasp Analysis 119
6 Dynamics of Articulated Systems 147
Part II Summary: The Kinodynamic Affordances of Embodied Systems 165
III STRUCTURE IN SENSORY FEEDBACK
7 Stimuli and Sensation: Organs of Visual and Tactile Perception 169
8 Signals, Signal Processing, and Information 191
Part III Summary: Transducers, Signals, and Perceptual Structure 218
IV SENSORIMOTOR DEVELOPMENT
9 Infant Neurodevelopmental Organization 221
10 A Computational Framework for Experiments in Developmental Learning 251
11 Case Study: Learning to Walk 281
Part IV Summary: Foundations for Hierarchical Skills 298
Appendix A Tools for Linear Analysis 299
Appendix B The Dynamics of Kinematic Chains 331
Appendix C Numerical Methods for Solving Laplace's Equation 351
Bibliography 357
Index 371