Interactive Collaborative Robotics

Name: Interactive Collaborative Robotics | 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings
Brand: Springer
Price: 69.54 EUR
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7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings

Andrey Ronzhin Roman Meshcheryakov Zhen Xiantong(Editor)

Springer (Publisher)

Published on 17. December 2022

XIII, 298 pages

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978-3-031-23609-9 (ISBN)

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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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Interactive Collaborative Robotics

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