First published in 2011, and now widely used for teaching around the world.

Second edition

Coming in early 2017


The book has been extensively revised throughout and includes new figures, more consistent notation and new content including: Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing.

  • ISBN: 978-3-319-54412-0

First edition

First published by Springer 2011 and now available in various formats.  The book had a second printing, with minor revisions, in 2013 (the back of the title page indicates which version you have).






→ first edition book website






→ first edition book website

Over 400,000 chapter downloads

Part of the Springer ?? package, if your university subscribes then the book is free to your students

Chinese language translation


Chinese translation of the first edition

  • Paper back, black and white with 12 pages of color plates
  • Publishing House of Electronics Industry, May 2016
  • ISBN: 978-7-121-25990-6

Springer MyCopy


This is a print-on-demand version, availability depends on the Springer package your  University signed up for.  It allows  you to buy a black and white paperback copy of the book for 24.99 USD/EUR.

Book features in comic form