
Interactive Collaborative Robotics
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This book constitutes the proceedings of the 7th International Conference on Interactive Collaborative Robotics, ICR 2022, held in Fuzhou, China, in December 2022.
The 25 papers presented were carefully reviewed and selected from 45 submissions. Challenges of human-robot interaction, robot control and behavior in social robotics and collaborative robotics, as well as applied robotic and cyber-physical systems are mainly discussed in the papers.
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Persons
Content
- Intro
- Preface
- Organization
- Contents
- Gesture Control System for Desktop Robotic Arm
- 1 Introduction
- 2 System Structure
- 3 Control Flow
- 4 Testing Results
- 4.1 Experimental Setup
- 4.2 Experimental Results
- 5 Conclusion
- References
- Supervisory System for a Collaborative Robotic Cell Based on RGBD Camera
- 1 Introduction
- 2 Using Face, Body, Hand, and Gesture Recognition Systems in Collaborative Robot-Human Interaction
- 2.1 Face Recognition Using Python Library Provided by Adam Geitgey
- 2.2 Determination of Spatial Coordinates of Key Points of Body and Hands Using OpenPose
- 2.3 Hand Gesture Recognition
- 3 Mechanical Tool Recognition with YOLOv5 Neural Network
- 4 Simulation of Dynamic Task Allocation
- 5 Conclusions
- References
- Design and Implementation of an Interactive Docent Robot for Exhibitions
- 1 Introduction
- 2 Computation on the Edge
- 2.1 Mapping and Location
- 2.2 Navigation and Autonomous Obstacle Avoidance
- 3 Computation on the Cloud
- 3.1 Human-Robot Dialogue
- 3.2 Face Recognition
- 4 Experiments
- 4.1 Evaluation of Navigation Path and Explanation Points
- 4.2 Evaluation of Autonomous Obstacle Avoidance
- 4.3 Evaluation of Human-Robot Interaction
- 5 Conclusion
- References
- Attention Guided 6D Object Pose Estimation with Multi-constraints Voting Network
- 1 Introduction
- 2 Related Work
- 3 Proposed Approach
- 3.1 Network Architecture
- 3.2 Multi-constraints Loss Function
- 4 Experiments
- 4.1 Datasets
- 4.2 Evaluation Metrics
- 4.3 Implementation Details
- 4.4 Comparison with State-Of-The-Art Methods
- 4.5 Ablation Study
- 5 Conclusion
- References
- Design of Intra-oral Radiograph Assisted Robot Based on Face Recognition
- 1 Introduction
- 2 Design of Intra-oral Radiograph Robot System
- 2.1 Overall Design Scheme
- 2.2 Kinematics Model of IRAR
- 2.3 Analysis of Motion Path for the IRAR
- 3 Image Visual Positioning of IRAR
- 3.1 Calibration of Parameters Inside and Outside the Camera
- 3.2 Binocular Vision Calibration
- 3.3 Facial Feature Recognition
- 4 Interactive Implementation
- 4.1 Multi-sensor Information Fusion Control
- 4.2 IRAR Kinematics Experiment
- 5 Conclusion
- References
- Moving+: Semantic Scene Classification on YOLOv5
- 1 Introduction
- 1.1 A Subsection Sample
- 2 Related Work
- 2.1 Hand-Crafted Method
- 2.2 Learning-Based Feature Representation
- 3 Model Architecture
- 4 YOLOv5
- 4.1 Semantic Embedding Layer
- 4.2 LSTM Classifier
- 5 Experiments
- 5.1 Datasets
- 5.2 Implementation Details
- 5.3 Analysis and Comparisons
- 6 Conclusion
- References
- LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform
- 1 Introduction
- 2 Multipurpose Chassis Design and Modelling
- 3 Robot Construction
- 4 Implementation of a Motor Controller
- 4.1 Forward Kinematics
- 4.2 Odometry
- 5 Conclusions
- References
- Comparison of Monocular ROS-Based Visual SLAM Methods
- 1 Introduction
- 2 Vision-Based Monocular SLAM Approaches
- 2.1 Visual Motion Estimation
- 2.2 Datasets
- 2.3 Method Evaluation
- 3 Comparative Analysis
- 3.1 EuRoC
- 3.2 KITTI
- 3.3 Visual SLAM Features
- 3.4 Guidelines and Virtualization
- 3.5 Summary
- 4 Conclusion
- References
- Evaluation of RGB-D SLAM in Large Indoor Environments
- 1 Introduction
- 2 Related Work
- 2.1 SLAM Algorithms
- 2.2 Navigation and Mapping in Large Areas
- 2.3 Long-term SLAM Evaluation
- 3 Problem Statement
- 4 Methods Overview
- 4.1 RTAB-MAP
- 4.2 Voxgraph
- 5 Evaluation
- 5.1 Experimental Setup
- 5.2 Results
- 6 Conclusion
- References
- Goal and Force Switching Policy for DMP-Based Manipulation
- 1 Introduction
- 2 Related Works
- 3 DMP, MPC, and RL for Manipulation
- 4 Solution for Pushing Task
- 4.1 Trajectory for Button Pushing
- 4.2 Two-Stage Control Algorithm
- 5 Experiments
- 6 Conclusion
- References
- Impedance Control of an Elastic Actuator with Strongly Coupled Structure
- 1 Introduction
- 2 Modeling of the Differential Joint
- 3 Controller Design
- 4 Simulation Tests
- 5 Conclusion
- References
- Door Opening Strategy for Mobile Manipulator with Constrained Configuration
- 1 Introduction
- 2 Common Architecture of the Solution
- 3 Recognition and Positioning of the Door Handle
- 4 A Strategy for the Slight Opening
- 5 Planning for the Whole-Body Opening Motion
- 6 Experiments
- 7 Conclusion
- References
- Domain Randomization with Adaptive Weight Distillation
- 1 Introduction
- 2 Background
- 2.1 Domain Randomization in Deep Reinforcement Learning
- 2.2 Policy Distillation
- 2.3 Multitask Learning
- 3 Problem Statement
- 4 Domain Randomization with Adaptive Weight Distillation
- 5 Experiment
- 6 Conclusion
- References
- Numerical Solution of the Inverse Kinematics Problem on the Example of a 6-DOF Robot
- 1 Introduction
- 2 Development of the Geometric Model
- 3 Formation of the Jacobi Matrix
- 4 The Algorithm for Solving the Problem
- 5 Simulation Results
- 6 Conclusion
- References
- Experimental Study of the Sensitivity Adjustment Technique for Exoskeleton Arm
- 1 Introduction
- 2 Control System
- 2.1 Structure
- 2.2 Sensitivity Adjustment Method
- 3 Experimental Study
- 4 Conclusion
- References
- Gait Synthesis of a Home Quadruped Robot
- 1 Introduction
- 2 Model of Home Robot
- 3 Motion Planning
- 4 Stability of Robot
- 5 Gate Generation
- 6 Experiments
- 7 Conclusion
- References
- Modeling Biomorphic Robotic Fish Swimming: Simulations and Experiments
- 1 Introduction
- 2 Recent Works
- 3 Methods
- 4 Results
- 5 Conclusion
- References
- Complex User Identification and Behavior Anomaly Detection in Corporate Smart Spaces
- 1 Introduction
- 2 State of the Art
- 3 Materials and Methods
- 3.1 System Architecture
- 3.2 Data Model
- 3.3 Anomaly Classification
- 4 Experiments
- 5 Conclusion
- References
- Model and Method of Resource-Saving Tasks Distribution for the Fog Robotics
- 1 Introduction
- 2 Fog Robotics: State of the Art
- 3 Problem of Resource-Saving Computations
- 4 The Model of Tasks Distribution Effect
- 5 The Method of Resource-Saving Task Distribution
- 6 Simulation Results
- 7 Conclusion
- References
- Intelligent-Geometric Control Architecture for Extinguishing Fires by a Group of UAVs
- 1 Introduction
- 1.1 Motivation
- 1.2 Related Works
- 1.3 Main Contributions
- 2 Intelligent-Geometric Architecture for Extinguishing Fires
- 3 Task Allocation Problem
- 3.1 Formulation of the Problem
- 3.2 Proposed Solution
- 4 Tactical and Executive Levels
- 4.1 Trajectory Tracking and Target Tracking Problems
- 4.2 UAV and Video Camera Models
- 5 Experiments
- 6 Conclusion
- References
- Approach to Automated Collection of Stones from Agricultural Lands by Means of a Heterogeneous Group of Robotic Systems
- 1 Introduction
- 2 Related Works
- 3 Developed Approach to Automated Collection of Stones from the Territory of Agricultural Lands by Means of Heterogeneous Group of RSs
- 4 Results
- 5 Conclusion
- References
- Method for Planning a Coverage Trajectory for a Group of UAVs Marking Out Zones for Installing Seismic Modules
- 1 Introduction
- 2 Related Works
- 3 The Developed Method for Planning the Coverage Trajectory in Aerial Monitoring of the Terrain by a Group of UAVs
- 4 Experiments
- 5 Conclusion
- References
- Simulation Program Model of Mobile Robots Groups for Multi-Robotic Complex
- 1 Introduction
- 2 Simulation Program Model for the Functioning of MR Groups
- 3 Conclusion
- References
- Algorithm for Replacing the Battery of a Robotic Tool Using Servicing Mobile Robots on Inhomogeneous Surfaces
- 1 Introduction
- 2 Current State of Research
- 3 Results Suggested Algorithm for Automatic Battery Replacement
- 3.1 Description of Robots
- 3.2 Battery Replacement Algorithm
- 4 Materials and Methods
- 5 Experiments
- 6 Conclusion
- References
- Software Library for KUKA Iiwa Robot to Improve the Efficiency of Human-Robot Interaction in Robotic Medical Applications
- 1 Introduction
- 2 Control Systems and Strategies in the CRS, Safety Requirements of HRI
- 2.1 CRS Control Systems and Strategies
- 2.2 Safety of Human-Robot Interaction
- 3 Technical Implementation of the Library
- 4 Practical Use of the Library
- 5 Results
- 6 Conclusion
- References
- Author Index
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