Towards Autonomous Robotic Systems

Name: Towards Autonomous Robotic Systems | 20th Annual Conference, TAROS 2019, London, UK, July 3-5, 2019, Proceedings, Part I
Brand: Springer
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20th Annual Conference, TAROS 2019, London, UK, July 3-5, 2019, Proceedings, Part I

Kaspar Althoefer Jelizaveta Konstantinova Ketao Zhang(Herausgeber*in)

Springer (Verlag)

Erschienen am 28. Juni 2019

XII, 474 Seiten

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Inhalt

Intro
Preface
Organization
Contents - Part I
Robotic Grippers and Manipulation
Reasoning on Grasp-Action Affordances
1 Introduction
2 Related Work
3 Proposed Solution
3.1 Knowledge Base Predictive Model
3.2 Calculating the Grasping Points
4 Evaluation
4.1 System Setup
4.2 Reasoning on the Affordance
4.3 Zero-Shot Affordance
5 Discussion
5.1 Similar Shape, Different Affordance
5.2 Quality on the Calculated Grasping Area
6 Conclusions and Future Work
References
Design Analysis of a Fabric Based Lightweight Robotic Gripper
Abstract
1 Introduction
2 Design of the Proposed Fabric-Based Gripper
3 Experimental Results
4 Discussion
5 Conclusions and Future Work
References
A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices
1 Introduction
2 Methodology
2.1 Experiment 1: Variation of the Palm Folding Angle Across Thumb-Finger Pairs
2.2 Kinematic Model of the Thumb and Foldable Palm
2.3 Experiment 2: Interaction Between the Palm Folding Angle and the Thumb Assistive Force Direction
3 Results
3.1 Variation of the Palm Folding Angle (Experiment 1)
3.2 Kinematic Model Simulations
3.3 Thumb Assistive Force Direction Across the Thumb-Finger Pairs (Experiment 2)
4 Discussion
5 Conclusion
References
Energy-Tank Based Force Control for 3D Contour Following
1 Introduction
1.1 Related Work
2 Modeling
2.1 Rigid Joint Dynamics
2.2 Flexible Joint Dynamics
3 Control
3.1 Force Control Design
3.2 Energy Tank Design
3.3 Case Scenario: Contact Loss
4 Manipulator Design
5 Experiments
5.1 Experimental Setup
5.2 Results
6 Conclusion
References
Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator
1 Introduction
2 Kinematic Modelling
2.1 Design of the Inflatable Manipulator
2.2 Beam Kinematic Model
3 Tip Navigation and Obstacle Avoidance
3.1 Go-to-Goal Navigation
3.2 Magnetic-Field-Inspired Obstacle Avoidance
3.3 Implementation Strategy
4 Results and Analysis
5 Conclusions and Future Works
References
Learning and Composing Primitive Skills for Dual-Arm Manipulation
1 Introduction
2 Dual-Arm System Modelisation
2.1 Dynamic Movement Primitives
2.2 Dual-Arm Primitive Skills Taxonomy
2.3 Dual-Arm DMP-Based Modelisation
3 Learning-Based Dual-Arm Manipulation
3.1 Library Generation
3.2 Attaching Semantics
3.3 Library Management
4 Results and Evaluation
4.1 Experimental Platform
4.2 Learning Primitive Skills from Demonstration
4.3 Experiments on Simulated iCub Humanoid
5 Final Remarks and Future Work
References
DE VITO: A Dual-Arm, High Degree-of-Freedom, Lightweight, Inexpensive, Passive Upper-Limb Exoskeleton for Robot Teleoperation
1 Introduction
2 Related Work
3 Design and Implementation
3.1 Human Arm Motion
3.2 Mechanical Design
3.3 Kinematic Control Algorithm and Calibration
4 Experiments
4.1 Experimental Platform
4.2 Teleoperated Manipulation Tasks and Results
5 Conclusion
References
A Novel Probabilistic Projection Model for Multi-camera Object Tracking
Abstract
1 Introduction
2 Related Work
3 A Brief Description of FDSST
4 Probabilistic Projection Model Between Two Kinects
4.1 Projection Theory and Coordinate System Conversion
4.2 Probabilistic Projection Model for Two Kinect System
5 Multi-camera Object Tracking Framework
6 Experimental Results
6.1 Experiments for Projection
6.2 Benchmark Building and Evaluation
6.3 Empirical Results
7 Conclusion and Discussion
References
Soft Robotics, Sensing and Mobile Robots
Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems
1 Introduction
2 The Soft Actuator Design
2.1 Reinforcement
2.2 The Actuation Chamber Cross-Section Geometry
3 Fabrication
3.1 The Reinforcement
3.2 The Soft Body of the Actuator
4 Conclusions
References
Ultrasound Feature Evaluation for Robustness to Sensor Shift in Ultrasound Sensor Based Hand Motion Recognition
1 Introduction
1.1 Transient Changes
1.2 Ultrasound
1.3 Area of Focus - Electrode/Diode Shift
2 Materials and Methods
2.1 Ultrasound Data Collection Device
2.2 Representing Shift
2.3 Experimental Protocol
2.4 Motions
2.5 Data Pre-processing
2.6 Data Processing
3 Methodology
4 Results
5 Discussion
6 Conclusion
References
Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing
Abstract
1 Introduction
2 Background
3 Design and Fabrication of Shape Sensor
3.1 The Fabrication of Soft Silicone Segments
3.2 Calibration
4 Concept
4.1 Light Intensity Modulation
5 Results
6 Conclusion
Acknowledgment
References
Designing Origami-Adapted Deployable Modules for Soft Continuum Arms
1 Introduction
2 The Engineering Design Process of Origami-Inspired Deployable Modules for Soft Continuum Arms
3 Origami Models of the Four-Sided Accordion Fold Pattern
3.1 Kinematic Modelling of the Four-Sided Accordion Fold Pattern
3.2 3D Printable Flat Sheet Model of the Origami Skeleton
4 Fabrication of the Deployable Module: Skeleton 3D Printing and Membrane Adhesion
5 Conclusions
References
A Debris Clearance Robot for Extreme Environments
1 Introduction
1.1 Robot Platform
1.2 Challenges
2 Background
3 Simulation
3.1 Tether Simulation
3.2 Hardware Configuration
3.3 User Interface
4 Conclusion
References
Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links
Abstract
1 Introduction
2 Design and Fabrication of Variable Stiffness Links (VSLs)
2.1 Evaluation of the Material for the Outer Layer of VSL
3 Analytical Modelling
4 Evaluation of the Dynamic Response for VSL
4.1 Experimental Setup
4.2 Analysis of the Experimental Results
5 Conclusions
References
Investigating Balance Control of a Hopping Bipedal Robot
Abstract
1 Introduction
2 Description of the Bath Bipedal Hopper Robot
3 Modelling
3.1 Hydraulic Model
3.2 Mechanical Model
4 Controller Implementation
4.1 Control of the Hopping Height
4.2 Control of the Longitudinal Velocity
4.3 Control of the Body Attitude
5 Simulation Results
6 Conclusion
References
Continuous Motion Utilising Advanced Motions on a Hexapod
1 Introduction
2 Background
3 Transitions
3.1 Ground-Chimney
3.2 Ground-Wall
4 Foothold Planner
4.1 Nominal Position
4.2 Transfer Phase
4.3 Support Phase
5 Evaluation
5.1 Simulation Setup
5.2 Results and Discussion
6 Conclusion
References
Robotic Learning, Mapping and Planning
Towards Adversarial Training for Mobile Robots
1 Introduction
2 Related Work
3 Background
4 Experimental Setup
4.1 Overview
4.2 Physical Setup
4.3 Data and Training
4.4 Experimental Procedure
5 Experiments
5.1 Trials
5.2 Results
5.3 Analysis
6 Conclusion
References
Collaborative HRI and Machine Learning for Constructing Personalised Physical Exercise Databases
1 Introduction
2 Literature Review
3 Human-Robot Collaboration for Data Collection
4 Development of the Learning Algorithm
5 Results and Discussion
5.1 Classification and Identification of New Poses
5.2 Changes to User Posture over Time
6 Conclusion
References
ORB-SLAM-CNN: Lessons in Adding Semantic Map Construction to Feature-Based SLAM
1 Introduction
2 Related Work
3 Configuring the Convolutional Neural Network
3.1 The ScanNet Dataset
3.2 MobileNet Semantic Segmentation Network
3.3 Conditional Random Field Post-processing
3.4 Training and Parameter Fitting
4 Feature-Based SLAM: ORB-SLAM2
4.1 Semantic Map Construction
5 Performance Models
5.1 Accuracy, Density, and Computation Trade Off Parameters
5.2 Density Model
5.3 Accuracy Model
5.4 Timing Model
5.5 Example Use of the Parameter Tuning Method
6 Conclusions
A Appendix: Multi-view Semantic Map Construction with Feature-Based SLAM
References
Probabilistic Planning for Robotics with ROSPlan
1 Introduction
2 Related Work
3 System Description
4 Online Planning and Execution with RDDL Planners
4.1 Action Execution with Non-deterministic Effects
5 Example System and Scenario
5.1 Print-Fetching Domain
6 Experiments
6.1 Results
7 Discussions and Conclusions
References
Coverage Path Planning for Large-Scale Aerial Mapping
Abstract
1 Introduction
2 Related Work
3 Aerial Coverage
3.1 Mapping Process
4 Simulation Results
5 Conclusion and Future Work
References
Self-organized Collective Motion with a Simulated Real Robot Swarm
1 Introduction
2 Collective Motion Control
2.1 Active Elastic Sheet Model and Numerical Dynamics
2.2 Modifications to AES
2.3 Degree of Alignment
3 Optimization
3.1 TCACS Optimization Algorithm
3.2 Objective Function
4 Experimental Setup
4.1 Setup 1: Linear Motion
4.2 Setup 2: Rotational Motion
4.3 Setup 3: Combination of Linear and Rotational Motion
5 Results and Discussion
6 Conclusion
References
Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner
1 Introduction
1.1 Related Work
2 Planner Description
2.1 Foothold Affordances
2.2 Root Planner
2.3 Contact Planner
3 Adjustments to ANYmal
3.1 Adjusting the Shapes for the Root Planner
3.2 Heuristics for Selecting the Leg Configurations in the Octree
4 Results
4.1 Generation of the Contact Plan
4.2 Tests in Simulation
5 Conclusion
References
Multi-robot Multi-goal Motion Planning with Time and Resources
1 Introduction
2 Background Theories
3 Experiments
4 Discussion
References
Human-Robot Interaction
instruMentor: An Interactive Robot for Musical Instrument Tutoring
1 Introduction
2 Related Work
3 Robot Architecture
3.1 Physical Appearance
3.2 Software and Hardware Design
3.3 User Interface
4 Experimental Design
5 Results and Discussion
6 Conclusions and Future Work
References
Position and Velocity Control for Telemanipulation with Interoperability Protocol
1 Introduction
2 Teleoperation Protocol and Control
2.1 Interoperability Protocol
2.2 Hybrid Control
3 Implementation
4 Validation
5 Conclusion
References
Intrinsically Motivated Autonomy in Human-Robot Interaction: Human Perception of Predictive Information in Robots
1 Introduction
2 Predictive Information
3 Study Design and Procedure
3.1 Baseline Behaviour
3.2 Robot, Environment and Tasks
3.3 Groups and Conditions
3.4 Robot's Behaviour
3.5 Goals and Hypotheses
3.6 Measures
3.7 Methodology
3.8 Sample
4 Results
5 Discussion
6 Conclusion and Future Work
References
Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction
1 Introduction
2 Mechanical Design Description
3 Modeling and Control
3.1 Gravity Compensation
3.2 Performance Evaluation
3.3 Friction Modeling
4 Conclusion
References
Investigating the Effects of Social Interactive Behaviours of a Robot on People's Trust During a Navigation Task
1 Introduction
2 Research Questions
3 Related Works
3.1 Robot Guide in Social Scenarios
3.2 Trust in Social Navigation
4 Approach
4.1 Experimental Design
4.2 Experimental Procedure
5 Results
5.1 Trust in Jax
5.2 Participants' Self Confidence
5.3 Previous Experiences with Robots
5.4 Role of the Robot
5.5 Godspeed Questionnaire
5.6 Preferred Behaviour by Participants
5.7 Social Behaviours Preferred by Participants
5.8 General Observation
6 Conclusions and Future Works
References
A Dataset for Action Recognition in the Wild
1 Introduction
2 Related Work
3 The Dataset
3.1 Features
3.2 Characteristics
4 Applications
4.1 Skeleton Extraction
4.2 Bounding Box Fitting
5 Conclusion
References
Feel It on Your Fingers: Dataglove with Vibrotactile Feedback for Virtual Reality and Telerobotics
Abstract
1 Introduction
2 State of the Art
3 Hardware/Software Architecture
3.1 Dataglove System Design
3.2 Virtual Reality - Object Stiffness Design
4 Experimental Design
4.1 Simultaneous Stimulation on Different Fingers
4.2 Simulation of the Stiffness of a Virtual Object
5 Results and Discussion
5.1 Detection of Feedback on Multiple Fingers
5.2 Detection of Different Stiffnesses of Virtual Objects
6 Conclusions
Acknowledgments
References
Virtual Reality Simulator for Medical Auscultation Training
Abstract
1 Introduction
2 Background in Auscultation Training
3 Proposed Methods and Materials
4 Pilot Study
5 Conclusions
Acknowledgment
References
Robotic Systems and Applications
Note on Geometric and Exponential Expressions of Screw Displacement
1 Introduction
2 Geometric Expression of Screw Displacement
2.1 Geometric Derivation of Rodrigues Formula for Rotation
2.2 Rodrigues' Formula for General Spatial Displacement
3 Exponential Derivation of Screw Displacement
3.1 Exponential Coordinates for Rotation
3.2 Exponential Coordinates for Spatial Rigid-Body Motion
4 Application of Screw Displacement in Landing Gear Design
5 Conclusions
References
A Modular 3D-Printed Inverted Pendulum
Abstract
1 Introduction
2 Inverted Pendulum Components
3 State Space Analysis of the Pendulum
4 Observer to Estimate State
5 Augmenting Positional State and Adding Integral Action
6 State Feedback Control
7 Pseudocode and Arduino Implementation
8 Results and Conclusions
Acknowledgments
References
A Geometric Dynamics Algorithm for Serially Linked Robots
1 Introduction
2 Theory and Principals
2.1 Link's Acceleration Due to the Single-Frame Rotation
2.2 Link's Inertial Moment Due to the Single-Frame Rotation
2.3 Dynamical Representation of a Single-Link
2.4 Moment Acting on a Joint Due to Robot Dynamics
2.5 Robot's Dynamics, Joint Space Inertia Matrix, Coriolis and Centrifugal Matrices
2.6 Geometrical Calculation of the Time Derivative of Inertia Matrix
3 Implementation and Results
4 Conclusion
References
Full-Rotation Singularity-Safe Workspace for Kinematically Redundant Parallel Robots
1 Introduction
2 Kinematically Redundant Planar Parallel Robots
3 Full-Rotation Singularity-Safe Workspace-A Case Study
3.1 Left Side of Robot
3.2 Right Side of Robot
3.3 Workspace Intersection
4 Numerical Example
5 Conclusion
References
Model-Based 3D Point Cloud Segmentation for Automated Selective Broccoli Harvesting
1 Introduction
2 Harvesting Broccoli Crops
2.1 Related Work
3 Methodology
3.1 Point Cloud Data Acquisition
3.2 Model-Based 3D Point Cloud Segmentation
4 Experimental Results
4.1 Classifier Evaluation
5 Conclusion
References
Mine Detonating Sphere-Bot
Abstract
1 Introduction
2 Design Process and Implementation
2.1 Design Tools
2.2 Materials
2.3 Hardware
2.4 Control
2.5 Final Design
3 Simulations
3.1 Finite Element Analysis: Sphere
3.2 Finite Element Analysis: Wheels
3.3 Finite Element Analysis: Final Wheels
4 Experiments
4.1 Preliminary Compression Testing
4.2 Further Compression Testing
4.3 Hill Climb Test
4.4 Drop Test
5 Conclusion
6 Repository
References
Author Index

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