Description: 1 Introduction.- 1.1 Related Work.- 1.2 Approach.- 1.3 Organization of the book.- 2 Representation and Architecture.- 2.1 Robot representation.- 2.2 Extensible Software Architecture.- 2.3 Summary.- 3 Synthesis Methodology.- 3.1 Introduction.- 3.2 Genetic Operators.- 3.3 Selecting Configurations for Reproduction and Deletion.- 3.4 Synthesis Process.- 3.5 Summary.- 4 Robot Evaluation.- 4.1 Simulator Architecture.- 4.2 Computing Robot State.- 4.3 Singularity-Robust Inverse Controller.- 4.4 Robot Dynamics.- 4.5 Link Deflection.- 4.6 Path Planning.- 4.7 Other Capabilities and Components.- 4.8 Metrics.- 4.9 Summary.- 5 Experiments and Demonstration.- 5.1 Task 1: A free-flying robot for orbital maintenance.- 5.2 Task 2: A fixed-base manipulator.- 5.3 Task 3: Simplified manipulation task for characterizing synthesizer performance.- 5.4 Task 4: A Material-handling robot.- 5.5 Task 5: An antenna-pointing mechanism.- 5.6 Task 6: A walking robot for space trusses.- 5.7 Discussion.- 6 Conclusion.- 6.1 Lessons Learned.- 6.2 Future Directions.- Appendix A: OOP and Class Hierarchy.- Appendix B: Module descriptions.- Appendix C: Detailed robot descriptions.- References.

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