Towards Autonomous Robotic Systems

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

Kaspar Althoefer Jelizaveta Konstantinova Ketao Zhang(Editor)

Springer (Publisher)

Published on 16. July 2019

XV, 503 pages

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978-3-030-25332-5 (ISBN)

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Content

Intro
Preface
Organization
Contents - Part II
Healthcare and Assistive Robotics
An Augmented Reality Environment to Provide Visual Feedback to Amputees During sEMG Data Acquisitions
1 Introduction
2 Methods
2.1 Device Setup
2.2 Myo Software
2.3 HoloLens Software
2.4 Virtual Hand Control
3 Evaluation of the Augmented Reality Environment
4 Conclusions
References
LibRob: An Autonomous Assistive Librarian*-10pt
1 Introduction
2 Related Work
3 System Description
3.1 Hardware Design
3.2 Software Components
4 Experimental Procedure and Evaluation
4.1 Experimental Setup
4.2 Results
5 Conclusions and Future Work
References
Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System
Abstract
1 Introduction
2 Design Evolution and Implementation
2.1 iFIND Version 1 Robot
2.2 iFIND Version 2 Robot
2.3 iFIND Version 3 Robot
3 Preliminary Healthy Volunteer Study
4 Discussion and Conclusions
Acknowledgements
References
Eduardo: A Low Cost Assistive Robot Development Platform, Featuring a Compliant End Effector
Abstract
1 Introduction
2 Related Work
3 Design
3.1 Physical Robot Design
3.2 Software
4 Experiments
4.1 Testing for Thickness of the Flex Plates
4.2 Flex Sensor Voltage Response Test
4.3 Combing
5 Conclusion
References
GarmNet: Improving Global with Local Perception for Robotic Laundry Folding
1 Introduction
2 Related Work
3 Network Architecture
4 Experiments
4.1 Dataset
4.2 Landmark Detection Anchors
4.3 Loss Functions
4.4 One Landmark Class per Sample, Constraint
4.5 Using Landmarks Within Garment Localization
4.6 Final Optimization with Augmented Data
5 Conclusion
A Appendix
References
Soft Robotics and Sensing
Soft Particles for Granular Jamming
Abstract
1 Introduction
1.1 Granular Jamming
2 Design and Fabrication
3 Experimental Study and Results
4 Conclusions and Future Work
References
A K-Nearest Neighbours Based Inverse Sensor Model for Occupancy Mapping
1 Introduction
2 Related Work
3 Methodology
3.1 Background of OctoMap
3.2 Update Normal Distribution
3.3 Mapping with k-NN Based Inverse Sensor Model
4 Experimental Results
4.1 Experiment Setup
4.2 Experiment Results
4.3 Discussion
5 Conclusion
References
Elastomer-Based Touch Sensor: Visualization of Tactile Pressure Distribution
Abstract
1 Introduction
2 Sensor Design
2.1 Design and Fabrication of the Elastomer
2.2 Illumination and Image Capture
3 Prototype Sensor Performance
3.1 Working Principle of Tactile Sensor
3.2 Visualization of Tactile Information
4 Conclusions
Acknowledgments
References
Modelling of a Soft Sensor for Exteroception and Proprioception in a Pneumatically Actuated Soft Robot
Abstract
1 Introduction
2 Methodology
2.1 Finite Element Modeling
2.2 Model Validation
3 Results and Discussion
4 Conclusions
Acknowledgements
References
Robotic Mapping, Navigation and Planning
Online Human In-Hand Manipulation Skill Recognition and Learning
1 Introduction
2 Related Work
2.1 In-Hand Motion Capturing
2.2 Motion Skill Representation and Learning
3 The Incremental Learning Framework for Gaussian Mixture Model
3.1 Batch Learning of GMM Using Standard EM Algorithm
3.2 Incremental Parameter Learning of GMMs
3.3 In-Hand Manipulation Recognition
4 Experiments and Discussions
4.1 Experiment Settings
5 Conclusion and Future Work
References
Mapping of Ultra-Wide Band Positional Variance for Indoor Environments
1 Introduction
2 Related Works
3 Methodology
4 Results and Analysis
5 Conclusion
References
MoDSeM: Towards Semantic Mapping with Distributed Robots*-12pt
1 Introduction
2 Related Work, Novelty and Contributions
3 MoDSeM Overview
3.1 Perception Modules
3.2 Semantic Map
3.3 History and Memory
3.4 ModSeM for Multi-robot Perception
4 Preliminary Experiments
4.1 Experimental Scenario
4.2 Results
4.3 Discussion
5 Conclusion
References
Towards Long-Term Autonomy Based on Temporal Planning
1 Introduction
2 Domain Definition
3 Multi-vehicle Implementation
4 Performance Evaluation
5 Conclusions
References
An Optimal Approach to Anytime Task and Path Planning for Autonomous Mobile Robots in Dynamic Environments
1 Introduction
2 Problem Definition
3 The DA-TPP Approach
3.1 Anytime Extension
3.2 Dynamic Anytime Extension
4 Path Planning
4.1 Local Path Correction
4.2 Global Re-Planning
5 Experimental Evaluation
5.1 Base Planner Comparison
5.2 Anytime Evaluation
5.3 Dynamic Anytime Evaluation
6 Conclusion
References
A Self-organizing Network with Varying Density Structure for Characterizing Sensorimotor Transformations in Robotic Systems*-12pt
1 Introduction
2 Methods
2.1 A Biologically-Inspired Sensorimotor Model
2.2 Modeling Sensory and Motor Spaces
2.3 Formation of Sensorimotor Mapping
2.4 Varying Density Structure
2.5 Adaptation to Changes in the Sensorimotor Model
3 Results
3.1 Setup
3.2 Enhanced Accuracy
3.3 Adaptation to Changes in Morphology
4 Conclusions
References
Watchman Routes for Robot Inspection
1 Introduction
2 Background Theories
3 Framework Design
4 Experiments
5 Conclusion and Discussion
References
Semantic Path Planning for Indoor Navigation and Household Tasks
1 Introduction
2 Semantic Path Planning
3 Proposed Method
4 Numerical Evaluation
4.1 Clear a Region of Objects
4.2 Moving Objects to Another Region
4.3 Move to a Region or an Object
5 Discussion
6 Conclusion
References
A Vision-Based Assistance Key Differenciator for Helicopters Automonous Scalable Missions*-12pt
1 Introduction
2 Vision-Based Piloting Assistance
3 SLAM for Autopilot Support
3.1 History
3.2 Visual SLAM
3.3 Vision-Based Navigation
4 Discussion and Positioning
References
Random Walk Exploration for Swarm Mapping
1 Introduction
2 Related Work
3 Swarm Mapping Method
3.1 Random Walk Exploration
3.2 Individual Mapping
3.3 Global Mapping
4 Experimental Setup
4.1 Robot
4.2 Protocol
5 Results
6 Conclusions
References
Visual and Thermal Data for Pedestrian and Cyclist Detection
1 Introduction
2 Pedestrian and Cyclist Detection
3 Detection Systems for Autonomous Vehicles
4 Sensors
4.1 Visible Light Sensors
4.2 Thermal Infrared Sensors
4.3 Dual Sensor System
5 Sensor Fusion
6 Conclusions
References
Robot Path Planning Using Imprecise and Sporadic Advisory Information from Humans
1 Introduction
2 Related Work
3 Problem Scenario: Description and Challenges
4 Map Representation Using Imprecise Probabilities
5 Map Updating with On-Board Sensors and Human Inputs
6 Survivable Path Planning
7 Implementation, Results, and Discussion
8 Conclusions
References
Collision-Free Optimal Trajectory for a Controlled Floating Space Robot
1 Introduction
2 Optimal Path Planning
3 Contribution
4 Path Optimization Using Genetic Algorithm
4.1 The Cost Functions
4.2 The Optimization Constraints
4.3 Shortcomings of the Equality Constraints
4.4 The Resultant Trajectory Optimization Algorithm
5 Simulations and Results
5.1 Motion of CFSR
5.2 Obstacle Avoidance
5.3 Singularity Avoidance
6 Conclusion
References
A Cross-Landscape Evaluation of Multi-robot Team Performance in Static Task-Allocation Domains
1 Introduction
2 Related Work
3 Approach
3.1 Metrics
4 Experiments
5 Results
5.1 Distance Travelled
5.2 Time
5.3 Efficiency
6 Summary
References
Mobile Robot Trajectory Analysis with the Help of Vision System
1 Introduction
2 Motion Tracking and Analysis
3 Experimental Setup
4 Results
References
Novel Robotic Systems and Applications
Intuitive Bare-Hand Teleoperation of a Robotic Manipulator Using Virtual Reality and Leap Motion
1 Introduction
2 Related Work
3 The Proposed System
3.1 System Architecture
3.2 How Bare Hands Control the Robotic Manipulator?
4 Demonstration and Discussion
5 Conclusion
References
A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics
1 Introduction
1.1 Background
1.2 Polyurethane Foam
1.3 Related Work
2 Design
2.1 Deposit System
2.2 Robotic Platform
2.3 Object Overcoming System
3 Results
3.1 Small Frontal Object Test
3.2 Large Frontal Object Test
3.3 Chasm Test
3.4 Summary of Experimental Results
4 Conclusion
References
Omni-Pi-tent: An Omnidirectional Modular Robot With Genderless Docking
1 Introduction
1.1 Self-repair During Continuous Motion
2 Design Requirements
3 Design Features
4 Constructing the Omni-Pi-tent Prototype
5 Testing the Prototype
5.1 Testing Infrared Docking Guidance
5.2 Testing the Docking System
5.3 Testing the Hinge
6 Conclusion and Future Work
References
Evaluating ToRCH Structure for Characterizing Robots
1 Introduction
2 Method
3 Results
3.1 Evaluating the Accuracy of ToRCH
3.2 Evaluating the Richness of ToRCH
4 Discussion
5 Limitations
6 Conclusions
References
Optimal Manoeuver Trajectory Synthesis for Autonomous Space and Aerial Vehicles and Robots
Abstract
1 Introduction
2 Optimal Attitude Orientation Acquisition Trajectory Synthesis
3 Optimal Translational Trajectory Synthesis
4 Translational Kinematics of an Aerospace Robotic Platform
5 Translational Kinetics of an Aerospace Robotic Platform
6 Optimal Translational Trajectory Synthesis for an Aerospace Robotic Platform
7 Extension to an on-Board Robot Manipulator
8 Typical Simulation Examples
9 Discussion and Conclusions
References
MRComm: Multi-Robot Communication Testbed
1 Introduction
2 Related Work
3 Approach
3.1 MRComm Testbed
4 Experiments
5 Results and Discussion
6 Summary
References
Autonomous Air-Hockey Playing Cobot Using Optimal Control and Vision-Based Bayesian Tracking
1 Introduction
2 Tactical Layer: Determination of Cobot Actions
2.1 Computer Vision: Kalman Filtering-Based Predictive Approach
2.2 Strategy-Making: AHP-Based Probabilistic Behavior
3 Active Layer: Implementation of Cobot Actions
3.1 Software Implementation: Translation of PD Commands into Joint Velocities
3.2 Hardware Implementation: Universal-Joint Based Striker
4 Experimentation Results and Analysis
4.1 Strategy Making: Evolution of Skillset Usage with Game State
4.2 Active Layer: Preparation of Joint Velocity
5 Conclusion
References
Development and Evaluation of a Novel Robotic System for Search and Rescue
Abstract
1 Introduction
2 Related Works
3 Design of the Search and Rescue Robot System
3.1 Proposed Overall Design
3.2 Robot Body Design
3.3 Multi-hop Networking
4 Development of the Robot
5 Experiments and Evaluation
5.1 Free Standing, Small Obstacles Test
5.2 Slope Test
5.3 Obstacle Test: Loose Rubble/Outdoor Environment
5.4 Obstacle Test: Staircase
5.5 Testing the Multi-hop Network
5.6 Power Consumption of the Robot
6 Conclusions
References
Payload Capabilities and Operational Limits of Eversion Robots
Abstract
1 Introduction
2 Analytical Modelling
2.1 Force Equilibrium
2.2 Longitudinal and Circumferential Stresses
3 Results
3.1 Failure Due to Yielding
3.2 Failure Due to Buckling
3.3 Lateral Collapse Force
3.4 Operational Limits
4 Conclusions
Acknowledgements
References
The Impact of the Robot's Morphology in the Collective Transport
1 Introduction
2 Research Setup
2.1 Robots: E-pucks
2.2 Simulation: Webots
2.3 Scenario: Collective Transport
2.4 Genetic Algorithm
3 Experiments
3.1 Controllers
3.2 Results
4 Conclusions
5 Future Work
References
System Design and Control of a Di-Wheel Rover
Abstract
1 Introduction
2 Chassis Design of Di-Wheel Rover
3 Experimental Analysis and Results
3.1 Structural Analysis
3.2 Controller Type
3.3 Ground Surfaces
3.4 Electrical Characteristics
4 Conclusions
Acknowledgements
References
An Auto-Correction Teleoperation Method for a Mobile Manipulator Using Gaze Tracking and Hand Motion Detection
1 Introduction
2 System Description
2.1 Gaze Control with Smart Eye
2.2 Hand Detection with Leap Motion
2.3 Youbot
3 Method
3.1 Impact of Gaze Commands
3.2 Adaptive Speed Control
4 Experiments
5 Conclusion
References
A Novel Wireless Measurement While Drilling System for the Detection of Deeply Buried Unexploded Bombs (UXBs)
Abstract
1 Threat of UXO
2 Deeply Buried UXO
3 Deeply Buried UXO Survey Methods
3.1 Pushed Method (Cone Penetration Test-CPT)
3.2 Predrilled Borehole Method
3.3 The Role of Geology in Selecting a Suitable Detection Technique
4 Proposed Real Time Measurement While Drilling System
4.1 Auger - The Selected Drilling Method
4.2 Existing Wireless Telemetry Systems Used in the Oil and Gas Industry
4.3 The Infrared (IR) Option
4.4 The Auger as a Waveguide
4.5 Concept Demonstration
5 Implementations and Field Testing
6 Conclusion
Acknowledgment
References
Short Papers
Making the Case for Human-Aware Navigation in Warehouses*-12pt
1 Introduction
2 Problem Statement and Analysis
3 Proposed Approach and Conclusion
References
The Third Hand, Cobots Assisted Precise Assembly
1 Methodology
2 Demonstration
References
Towards a Swarm Robotic System for Autonomous Cereal Harvesting
1 Introduction
2 Autonomous Multi-vehicle Cereal Harvesting
3 A More Flexible Swarm Robotic System
References
Boundary Detection in a Swarm of Kilobots
References
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning
1 Introduction
2 Deep Reinforcement Learning
2.1 Definition
2.2 Learning Algorithm
3 Experimental Setup
3.1 Simulation Environment
4 Current Result
4.1 Future Work
References
Improved Safety with a Distributed Routing Strategy for UAVs
1 Introduction
2 Methods
3 Simulation Procedure
4 Results
References
Exploration: Do We Need a Map?
1 Introduction
2 Methodology
2.1 Exploration Strategies
2.2 Environmental Setup
3 Results
4 Conclusions
References
The Downsizing of a Free-Flying Space Robot
1 Introduction
2 Manipulator Design
3 Conclusion and Further Work
References
Preliminary Investigation on Visual Finger-Counting with the iCub Robot Cameras and Hands
Abstract
1 Introduction
2 Materials and Methods
2.1 Setup
2.2 Image Data Collection
2.3 Extracting the Hand Silhouettes
2.4 A Deep Neural Network Model for Fingers Detection
3 Results
Acknowledgments
References
Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators
1 Introduction
2 Design Considerations
3 Grasping and Load Test
4 Conclusion
References
A Quest Towards Safe Human Robot Collaboration
1 Methodology
2 Tests and Results
References
Wheelchair Navigation: Automatically Adapting to Evolving Environments
1 Introduction
2 Background and Motivation
2.1 Shared Control and User Intentions
2.2 Global Navigation
3 Proposed System
3.1 Object Segmentation and Recognition
3.2 Localisation and Path Planning
4 Conclusions
References
Correction to: Random Walk Exploration for Swarm Mapping
Correction to: Chapter "Random Walk Exploration for Swarm Mapping" in: K. Althoefer et al. (Eds.): Towards Autonomous Robotic Systems, LNAI 11650, https://doi.org/10.1007/978-3-030-25332-5_19
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Towards Autonomous Robotic Systems

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