Robot Learning Human Skills And Intelligent Control Design

Robot Learning Human Skills And Intelligent Control Design Book in PDF, ePub and Kindle version is available to download in english. Read online anytime anywhere directly from your device. Click on the download button below to get a free pdf file of Robot Learning Human Skills And Intelligent Control Design book. This book definitely worth reading, it is an incredibly well-written.

Robot Learning Human Skills and Intelligent Control Design

Chenguang Yang,Chao Zeng,Jianwei Zhang
Robot Learning Human Skills and Intelligent Control Design Book PDF

Author : Chenguang Yang,Chao Zeng,Jianwei Zhang
Publisher : Unknown
Page : 0 pages
File Size : 46,7 Mb
Release : 2021
Category : Computers
ISBN : 1000395200

Get Book

Robot Learning Human Skills and Intelligent Control Design by Chenguang Yang,Chao Zeng,Jianwei Zhang Pdf

In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task. This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user's arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of the readers.

Robot Learning Human Skills and Intelligent Control Design

Chenguang Yang,Chao Zeng,Jianwei Zhang
Robot Learning Human Skills and Intelligent Control Design Book PDF

Author : Chenguang Yang,Chao Zeng,Jianwei Zhang
Publisher : CRC Press
Page : 184 pages
File Size : 50,5 Mb
Release : 2021-06-21
Category : Computers
ISBN : 9781000395174

Get Book

Robot Learning Human Skills and Intelligent Control Design by Chenguang Yang,Chao Zeng,Jianwei Zhang Pdf

In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task. This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user’s arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of the readers.

Human-in-the-loop Learning and Control for Robot Teleoperation

Chenguang Yang,Jing Luo,Ning Wang
Human in the loop Learning and Control for Robot Teleoperation Book PDF

Author : Chenguang Yang,Jing Luo,Ning Wang
Publisher : Elsevier
Page : 268 pages
File Size : 41,9 Mb
Release : 2023-04-06
Category : Computers
ISBN : 9780323958431

Get Book

Human-in-the-loop Learning and Control for Robot Teleoperation by Chenguang Yang,Jing Luo,Ning Wang Pdf

Human-in-the-loop Learning and Control for Robot Teleoperation presents recent, research progress on teleoperation and robots, including human-robot interaction, learning and control for teleoperation with many extensions on intelligent learning techniques. The book integrates cutting-edge research on learning and control algorithms of robot teleoperation, neural motor learning control, wave variable enhancement, EMG-based teleoperation control, and other key aspects related to robot technology, presenting implementation tactics, adequate application examples and illustrative interpretations. Robots have been used in various industrial processes to reduce labor costs and improve work efficiency. However, most robots are only designed to work on repetitive and fixed tasks, leaving a gap with the human desired manufacturing effect. Introduces research progress and technical contributions on teleoperation robots, including intelligent human-robot interactions and learning and control algorithms for teleoperation Presents control strategies and learning algorithms to a teleoperation framework to enhance human-robot shared control, bi-directional perception and intelligence of the teleoperation system Discusses several control and learning methods, describes the working implementation and shows how these methods can be applied to a specific and practical teleoperation system

Robot Learning Human Skills and Intelligent Control Design

CHENGUANG. YANG,Chao Zeng,Jianwei Zhang
Robot Learning Human Skills and Intelligent Control Design Book PDF

Author : CHENGUANG. YANG,Chao Zeng,Jianwei Zhang
Publisher : CRC Press
Page : 0 pages
File Size : 44,8 Mb
Release : 2023-09-25
Category : Electronic
ISBN : 0367634376

Get Book

Robot Learning Human Skills and Intelligent Control Design by CHENGUANG. YANG,Chao Zeng,Jianwei Zhang Pdf

This book focusses on robotic skill learning and intelligent control for robotic manipulators including enabling of robots to efficiently learn motor and stiffness/force regulation policies from humans. It explains transfer of human limb impedance control strategies to the robots so that the adaptive impedance control for the robot can be realized.

Intelligent Control of Robotic Systems

D. Katic,M. Vukobratovic
Intelligent Control of Robotic Systems Book PDF

Author : D. Katic,M. Vukobratovic
Publisher : Springer Science & Business Media
Page : 308 pages
File Size : 46,9 Mb
Release : 2013-03-14
Category : Technology & Engineering
ISBN : 9789401703178

Get Book

Intelligent Control of Robotic Systems by D. Katic,M. Vukobratovic Pdf

As robotic systems make their way into standard practice, they have opened the door to a wide spectrum of complex applications. Such applications usually demand that the robots be highly intelligent. Future robots are likely to have greater sensory capabilities, more intelligence, higher levels of manual dexter ity, and adequate mobility, compared to humans. In order to ensure high-quality control and performance in robotics, new intelligent control techniques must be developed, which are capable of coping with task complexity, multi-objective decision making, large volumes of perception data and substantial amounts of heuristic information. Hence, the pursuit of intelligent autonomous robotic systems has been a topic of much fascinating research in recent years. On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems. Due to their strong learning and cognitive ability and good tolerance of uncertainty and imprecision, Soft Computing techniques have found wide application in the area of intelligent control of robotic systems.

Design and Control of Intelligent Robotic Systems

Dikai Liu,Lingfeng Wang,Kay Chen Tan
Design and Control of Intelligent Robotic Systems Book PDF

Author : Dikai Liu,Lingfeng Wang,Kay Chen Tan
Publisher : Springer Science & Business Media
Page : 491 pages
File Size : 45,6 Mb
Release : 2009-03-05
Category : Technology & Engineering
ISBN : 9783540899327

Get Book

Design and Control of Intelligent Robotic Systems by Dikai Liu,Lingfeng Wang,Kay Chen Tan Pdf

With the increasing applications of intelligent robotic systems in various ?elds, the - sign and control of these systems have increasingly attracted interest from researchers. This edited book entitled “Design and Control of Intelligent Robotic Systems” in the book series of “Studies in Computational Intelligence” is a collection of some advanced research on design and control of intelligent robots. The works presented range in scope from design methodologies to robot development. Various design approaches and al- rithms, such as evolutionary computation, neural networks, fuzzy logic, learning, etc. are included. We also would like to mention that most studies reported in this book have been implemented in physical systems. An overview on the applications of computational intelligence in bio-inspired robotics is given in Chapter 1 by M. Begum and F. Karray, with highlights of the recent progress in bio-inspired robotics research and a focus on the usage of computational intelligence tools to design human-like cognitive abilities in the robotic systems. In Chapter 2, Lisa L. Grant and Ganesh K. Venayagamoorthy present greedy search, particle swarm optimization and fuzzy logic based strategies for navigating a swarm of robots for target search in a hazardous environment, with potential applications in high-risk tasks such as disaster recovery and hazardous material detection.

Robot Learning from Human Teachers

Sonia Chernova,Andrea L. Thomaz
Robot Learning from Human Teachers Book PDF

Author : Sonia Chernova,Andrea L. Thomaz
Publisher : Morgan & Claypool Publishers
Page : 154 pages
File Size : 41,9 Mb
Release : 2014-04-01
Category : Computers
ISBN : 9781681731797

Get Book

Robot Learning from Human Teachers by Sonia Chernova,Andrea L. Thomaz Pdf

Learning from Demonstration (LfD) explores techniques for learning a task policy from examples provided by a human teacher. The field of LfD has grown into an extensive body of literature over the past 30 years, with a wide variety of approaches for encoding human demonstrations and modeling skills and tasks. Additionally, we have recently seen a focus on gathering data from non-expert human teachers (i.e., domain experts but not robotics experts). In this book, we provide an introduction to the field with a focus on the unique technical challenges associated with designing robots that learn from naive human teachers. We begin, in the introduction, with a unification of the various terminology seen in the literature as well as an outline of the design choices one has in designing an LfD system. Chapter 2 gives a brief survey of the psychology literature that provides insights from human social learning that are relevant to designing robotic social learners. Chapter 3 walks through an LfD interaction, surveying the design choices one makes and state of the art approaches in prior work. First, is the choice of input, how the human teacher interacts with the robot to provide demonstrations. Next, is the choice of modeling technique. Currently, there is a dichotomy in the field between approaches that model low-level motor skills and those that model high-level tasks composed of primitive actions. We devote a chapter to each of these. Chapter 7 is devoted to interactive and active learning approaches that allow the robot to refine an existing task model. And finally, Chapter 8 provides best practices for evaluation of LfD systems, with a focus on how to approach experiments with human subjects in this domain.

Human-Robot Interaction Control Using Reinforcement Learning

Wen Yu,Adolfo Perrusquia
Human Robot Interaction Control Using Reinforcement Learning Book PDF

Author : Wen Yu,Adolfo Perrusquia
Publisher : John Wiley & Sons
Page : 288 pages
File Size : 54,5 Mb
Release : 2021-10-06
Category : Technology & Engineering
ISBN : 9781119782766

Get Book

Human-Robot Interaction Control Using Reinforcement Learning by Wen Yu,Adolfo Perrusquia Pdf

A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.

Modelling Human Motion

Nicoletta Noceti,Alessandra Sciutti,Francesco Rea
Modelling Human Motion Book PDF

Author : Nicoletta Noceti,Alessandra Sciutti,Francesco Rea
Publisher : Springer Nature
Page : 351 pages
File Size : 55,8 Mb
Release : 2020-07-09
Category : Computers
ISBN : 9783030467326

Get Book

Modelling Human Motion by Nicoletta Noceti,Alessandra Sciutti,Francesco Rea Pdf

The new frontiers of robotics research foresee future scenarios where artificial agents will leave the laboratory to progressively take part in the activities of our daily life. This will require robots to have very sophisticated perceptual and action skills in many intelligence-demanding applications, with particular reference to the ability to seamlessly interact with humans. It will be crucial for the next generation of robots to understand their human partners and at the same time to be intuitively understood by them. In this context, a deep understanding of human motion is essential for robotics applications, where the ability to detect, represent and recognize human dynamics and the capability for generating appropriate movements in response sets the scene for higher-level tasks. This book provides a comprehensive overview of this challenging research field, closing the loop between perception and action, and between human-studies and robotics. The book is organized in three main parts. The first part focuses on human motion perception, with contributions analyzing the neural substrates of human action understanding, how perception is influenced by motor control, and how it develops over time and is exploited in social contexts. The second part considers motion perception from the computational perspective, providing perspectives on cutting-edge solutions available from the Computer Vision and Machine Learning research fields, addressing higher-level perceptual tasks. Finally, the third part takes into account the implications for robotics, with chapters on how motor control is achieved in the latest generation of artificial agents and how such technologies have been exploited to favor human-robot interaction. This book considers the complete human-robot cycle, from an examination of how humans perceive motion and act in the world, to models for motion perception and control in artificial agents. In this respect, the book will provide insights into the perception and action loop in humans and machines, joining together aspects that are often addressed in independent investigations. As a consequence, this book positions itself in a field at the intersection of such different disciplines as Robotics, Neuroscience, Cognitive Science, Psychology, Computer Vision, and Machine Learning. By bridging these different research domains, the book offers a common reference point for researchers interested in human motion for different applications and from different standpoints, spanning Neuroscience, Human Motor Control, Robotics, Human-Robot Interaction, Computer Vision and Machine Learning. Chapter 'The Importance of the Affective Component of Movement in Action Understanding' of this book is available open access under a CC BY 4.0 license at link.springer.com.

Intelligent Control of Robotic Systems

Laxmidhar Behera,Swagat Kumar,Prem Kumar Patchaikani,Ranjith Ravindranathan Nair,Samrat Dutta
Intelligent Control of Robotic Systems Book PDF

Author : Laxmidhar Behera,Swagat Kumar,Prem Kumar Patchaikani,Ranjith Ravindranathan Nair,Samrat Dutta
Publisher : CRC Press
Page : 675 pages
File Size : 50,7 Mb
Release : 2020-04-07
Category : Technology & Engineering
ISBN : 9780429944017

Get Book

Intelligent Control of Robotic Systems by Laxmidhar Behera,Swagat Kumar,Prem Kumar Patchaikani,Ranjith Ravindranathan Nair,Samrat Dutta Pdf

This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.

Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices

Giuseppe Averta
Human Aware Robotics Modeling Human Motor Skills for the Design Planning and Control of a New Generation of Robotic Devices Book PDF

Author : Giuseppe Averta
Publisher : Springer Nature
Page : 284 pages
File Size : 50,9 Mb
Release : 2022-01-25
Category : Technology & Engineering
ISBN : 9783030925215

Get Book

Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices by Giuseppe Averta Pdf

This book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.

Learning for Adaptive and Reactive Robot Control

Aude Billard,Sina Mirrazavi,Nadia Figueroa
Learning for Adaptive and Reactive Robot Control Book PDF

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 43,9 Mb
Release : 2022-02-08
Category : Technology & Engineering
ISBN : 9780262367011

Get Book

Learning for Adaptive and Reactive Robot Control by Aude Billard,Sina Mirrazavi,Nadia Figueroa Pdf

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Artificial Intelligence for Robotics

Francis X. Govers
Artificial Intelligence for Robotics Book PDF

Author : Francis X. Govers
Publisher : Packt Publishing Ltd
Page : 336 pages
File Size : 52,9 Mb
Release : 2018-08-30
Category : Computers
ISBN : 9781788835701

Get Book

Artificial Intelligence for Robotics by Francis X. Govers Pdf

Bring a new degree of interconnectivity to your world by building your own intelligent robots Key Features Leverage fundamentals of AI and robotics Work through use cases to implement various machine learning algorithms Explore Natural Language Processing (NLP) concepts for efficient decision making in robots Book DescriptionArtificial Intelligence for Robotics starts with an introduction to Robot Operating Systems (ROS), Python, robotic fundamentals, and the software and tools that are required to start out with robotics. You will learn robotics concepts that will be useful for making decisions, along with basic navigation skills. As you make your way through the chapters, you will learn about object recognition and genetic algorithms, which will teach your robot to identify and pick up an irregular object. With plenty of use cases throughout, you will explore natural language processing (NLP) and machine learning techniques to further enhance your robot. In the concluding chapters, you will learn about path planning and goal-oriented programming, which will help your robot prioritize tasks. By the end of this book, you will have learned to give your robot an artificial personality using simulated intelligence.What you will learn Get started with robotics and artificial intelligence Apply simulation techniques to give your robot an artificial personality Understand object recognition using neural networks and supervised learning techniques Pick up objects using genetic algorithms for manipulation Teach your robot to listen using NLP via an expert system Use machine learning and computer vision to teach your robot how to avoid obstacles Understand path planning, decision trees, and search algorithms in order to enhance your robot Who this book is for If you have basic knowledge about robotics and want to build or enhance your existing robot’s intelligence, then Artificial Intelligence for Robotics is for you. This book is also for enthusiasts who want to gain knowledge of AI and robotics.

Human-in-the-Loop Robot Control and Learning

Luka Peternel,Jan Babič,Erhan Oztop,Tetsunari Inamura,Dingguo Zhang
Human in the Loop Robot Control and Learning Book PDF

Author : Luka Peternel,Jan Babič,Erhan Oztop,Tetsunari Inamura,Dingguo Zhang
Publisher : Frontiers Media SA
Page : 229 pages
File Size : 48,9 Mb
Release : 2020-01-22
Category : Electronic
ISBN : 9782889633128

Get Book

Human-in-the-Loop Robot Control and Learning by Luka Peternel,Jan Babič,Erhan Oztop,Tetsunari Inamura,Dingguo Zhang Pdf

In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.

Advances in Robot Design and Intelligent Control

Aleksandar Rodić,Theodor Borangiu
Advances in Robot Design and Intelligent Control Book PDF

Author : Aleksandar Rodić,Theodor Borangiu
Publisher : Springer
Page : 649 pages
File Size : 53,6 Mb
Release : 2016-11-26
Category : Technology & Engineering
ISBN : 9783319490588

Get Book

Advances in Robot Design and Intelligent Control by Aleksandar Rodić,Theodor Borangiu Pdf

This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master’s and Ph.D. students working on robotics projects.