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1、CognitiveSystemsMonographsVolume4Editors:RüdigerDillmann·YoshihikoNakamura·StefanSchaal·DavidVernonPedramAzadVisualPerceptionforManipulationandImitationinHumanoidRobotsABCRüdigerDillmann,UniversityofKarlsruhe,FacultyofInformatics,InstituteofAnthropomatics,RoboticsL
2、ab.,Kaiserstr.12,76131Karlsruhe,GermanyYoshihikoNakamura,TokyoUniversityFac.Engineering,Dept.Mechano-Informatics,7-3-1Hongo,Bukyo-kuTokyo,113-8656,JapanStefanSchaal,UniversityofSouthernCalifornia,DepartmentComputerScience,ComputationalLearn-ing&MotorControlLab.,Los
3、Angeles,CA90089-2905,USADavidVernon,KhalifaUniversityDepartmentofComputerEngineering,POBox573,Sharjah,UnitedArabEmiratesAuthorsDr.-Ing.PedramAzadUniversityofKarlsruhe(TH)InstituteforAnthropomatics(IFA)RoboticsLabKaiserstr.12,Geb.50.2076131KarlsruheGermanyE-mail:aza
4、d@ira.uka.deISBN978-3-642-04228-7e-ISBN978-3-642-04229-4DOI10.1007/978-3-642-04229-4CognitiveSystemsMonographsISSN1867-4925LibraryofCongressControlNumber:2009934346c2009Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewhol
5、eorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGer
6、manCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenint
7、heabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Typeset&CoverDesign:ScientificPublishingServicesPvt.Ltd.,Chennai,India.Printedinacid-freepaper543210springer.comtomyparentsForewordInrecentyea
8、rswehaveseenconsiderableadvancesinthedevelopmentofhu-manoidrobots,thatisrobotswithananthropomorphicdesign.Suchrobotsshouldbecapableofautonomously
