A Visual Servoing Approach To Human Robot Interactive Object Transfer PDF Download
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Author | : Ying Wang |
Publisher | : |
Total Pages | : |
Release | : 2016 |
Genre | : |
ISBN | : 9783741204128 |
Download A Visual Servoing Approach to Human-Robot Interactive Object Transfer Book in PDF, ePub and Kindle
Author | : Ying Wang |
Publisher | : BoD – Books on Demand |
Total Pages | : 194 |
Release | : 2016-04-07 |
Genre | : Computers |
ISBN | : 3739238895 |
Download A Visual Servoing Approach to Human-Robot Interactive Object Transfer Book in PDF, ePub and Kindle
Taking human factors into account, a visual servoing approach aims to facilitate robots with real-time situational information to accomplish tasks in direct and proximate collaboration with people. A hybrid visual servoing algorithm, a combination of the classical position-based and image-based visual servoing, is applied to the whole task space. A model-based tracker monitors the human activities, via matching the human skeleton representation and the image of people in image. Grasping algorithms are implemented to compute grasp points based on the geometrical model of the robot gripper. Whilst major challenges of human-robot interactive object transfer are visual occlusions and making grasping plans, this work proposes a new method of visually guiding a robot with the presence of partial visual occlusion, and elaborate the solution to adaptive robotic grasping.
Author | : Guido Herrmann |
Publisher | : Springer |
Total Pages | : 609 |
Release | : 2013-10-23 |
Genre | : Computers |
ISBN | : 3319026755 |
Download Social Robotics Book in PDF, ePub and Kindle
This book constitutes the refereed proceedings of the 5th International Conference on Social Robotics, ICSR 2013, held in Bristol, UK, in October 2013. The 55 revised full papers and 13 abstracts were carefully reviewed and selected from 108 submissions and are presented together with one invited paper. The papers cover topics such as human-robot interaction, child development and care for the elderly, as well as technical issues underlying social robotics: visual attention and processing, motor control and learning.
Author | : Jinglin Shen |
Publisher | : |
Total Pages | : 214 |
Release | : 2013 |
Genre | : Human-robot interaction |
ISBN | : |
Download Multi-view Systems for Robot-human Feedback and Object Grasping Book in PDF, ePub and Kindle
Object grasping is done using the Simultaneous Image/Position Visual Servoing method. An automatic goal pose/image generation method for visual servoing with respect to a projected pattern is proposed. Experimental results are presented to demonstrate how the two systems are used for human-robot-interaction in robot grasping applications.
Author | : Gholamreza Anbarjafari |
Publisher | : BoD – Books on Demand |
Total Pages | : 186 |
Release | : 2018-07-04 |
Genre | : Computers |
ISBN | : 178923316X |
Download Human-Robot Interaction Book in PDF, ePub and Kindle
This book takes the vocal and visual modalities and human-robot interaction applications into account by considering three main aspects, namely, social and affective robotics, robot navigation, and risk event recognition. This book can be a very good starting point for the scientists who are about to start their research work in the field of human-robot interaction.
Author | : Min Wu |
Publisher | : Logos Verlag Berlin GmbH |
Total Pages | : 212 |
Release | : 2022-06-14 |
Genre | : Technology & Engineering |
ISBN | : 383255484X |
Download A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration Book in PDF, ePub and Kindle
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.
Author | : Erwin Prassler |
Publisher | : Springer Science & Business Media |
Total Pages | : 434 |
Release | : 2004-10-27 |
Genre | : Technology & Engineering |
ISBN | : 9783540232117 |
Download Advances in Human-Robot Interaction Book in PDF, ePub and Kindle
"Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.
Author | : Bin Fang |
Publisher | : Frontiers Media SA |
Total Pages | : 224 |
Release | : 2021-06-08 |
Genre | : Science |
ISBN | : 2889668444 |
Download Integrated Multi-modal and Sensorimotor Coordination for Enhanced Human-Robot Interaction Book in PDF, ePub and Kindle
Author | : Graziano Chesi |
Publisher | : Springer |
Total Pages | : 410 |
Release | : 2010-03-10 |
Genre | : Technology & Engineering |
ISBN | : 1849960895 |
Download Visual Servoing via Advanced Numerical Methods Book in PDF, ePub and Kindle
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.
Author | : Changliu Liu |
Publisher | : CRC Press |
Total Pages | : 236 |
Release | : 2019-09-12 |
Genre | : Computers |
ISBN | : 0429608373 |
Download Designing Robot Behavior in Human-Robot Interactions Book in PDF, ePub and Kindle
In this book, we have set up a unified analytical framework for various human-robot systems, which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control, planning, decision and learning is proposed. In particular, the following topics are discussed in-depth: safety during human-robot interactions, efficiency in real-time robot motion planning, imitation of human behaviors from demonstration, dexterity of robots to adapt to different environments and tasks, cooperation among robots and humans with conflict resolution. These methods are applied in various scenarios, such as human-robot collaborative assembly, robot skill learning from human demonstration, interaction between autonomous and human-driven vehicles, etc. Key Features: Proposes a unified framework to model and analyze human-robot interactions under different modes of interactions. Systematically discusses the control, decision and learning algorithms to enable robots to interact safely with humans in a variety of applications. Presents numerous experimental studies with both industrial collaborative robot arms and autonomous vehicles.