Tactile Sensing Skill Learning And Robotic Dexterous Manipulation

Author : Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang
Publisher : Academic Press
Page : 374 pages
File Size : 47,8 Mb
Release : 2022-04-02
Category : Computers
ISBN : 9780323904179

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Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang Pdf

Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Author : Howard R Nicholls
Publisher : World Scientific
Page : 312 pages
File Size : 51,5 Mb
Release : 1992-12-10
Category : Computers
ISBN : 9789814505789

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Advanced Tactile Sensing for Robotics by Howard R Nicholls Pdf

Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. In the first part of the book, the current state of progress of tactile sensing is surveyed, and it is found that the field is still in an early stage of development. Next, some fundamental issues in planar elasticity, concerning the interaction between tactile sensors and the environment, are presented. Having established how the basic data can be derived from the sensors, the issues of what form tactile sensors should take, and how they should be used, are considered. This is particularly important given the infancy of this field. The human tactile system is examined, and then biological touch and its implications for robotics is looked at. Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered, and another, novel, approach for using touch sensing in a flexible assembly machine is described. Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field. Contents:Introduction to Tactile SensingTactile Sensor DesignsProcessing and Using Tactile Sensor Data (H R Nicholls)Planar Elasticity for Tactile Sensing (R S Fearing)Integrating Tactile Sensors — ESPRIT 278 (Z G Rzepczynski)Distributed Touch Sensing (H R Nicholls & N W Hardy)The Human Tactile System (L Moss-Salentijn)Lessons from the Study of Biological Touch for Robotic Tactile Sensing (S J Lederman & D T Pawluck)Lessons from the Study of Biological Touch for Robotic Haptic Sensing (S J Lederman et al.)Object Recognition Using Active Tactile Sensing (P K Allen)Experiments in Active Haptic Perception with the Utah-MIT Dextrous Hand (P K Allen et al.)Future Trends in Tactile Sensing (H R Nicholls)Appendix — Basic Linear Elasticity (R S Fearing) Readership: Computer scientists and engineers. keywords:Tactile Sensing;Tactile Sensor;Force Sensing;Force Sensor;Image Processing;Intelligent Robotics;Haptics;Robot Gripper;Robot Grasping;Touch Sensing;Touch Sensor “The book is well presented, with copious references to the literature, and will certainly be accepted as a standard work of reference in this area.” Robotica

Author : R. Andrew Russell
Publisher : Unknown
Page : 192 pages
File Size : 41,6 Mb
Release : 1990
Category : Computers
ISBN : UOM:39015019865024

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Robot Tactile Sensing by R. Andrew Russell Pdf

This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.

Author : Martin Pfanne
Publisher : Springer Nature
Page : 213 pages
File Size : 49,8 Mb
Release : 2022-08-31
Category : Technology & Engineering
ISBN : 9783031069673

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In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands by Martin Pfanne Pdf

This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Page : 218 pages
File Size : 52,6 Mb
Release : 2018-06-26
Category : Technology & Engineering
ISBN : 9780128133965

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Human Inspired Dexterity in Robotic Manipulation by Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada Pdf

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Author : Chenguang Yang,Chao Zeng,Jianwei Zhang
Publisher : CRC Press
Page : 184 pages
File Size : 40,5 Mb
Release : 2021-06-21
Category : Computers
ISBN : 9781000395174

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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.

Author : Ravinder S. Dahiya,Maurizio Valle
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 42,8 Mb
Release : 2012-07-29
Category : Technology & Engineering
ISBN : 9789400705791

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Robotic Tactile Sensing by Ravinder S. Dahiya,Maurizio Valle Pdf

Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.

Author : Kaspar Althoefer,Jelizaveta Konstantinova,Ketao Zhang
Publisher : Springer
Page : 503 pages
File Size : 43,5 Mb
Release : 2019-07-16
Category : Computers
ISBN : 9783030253325

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Towards Autonomous Robotic Systems by Kaspar Althoefer,Jelizaveta Konstantinova,Ketao Zhang Pdf

The two volumes LNAI 11649 and 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 87 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.

Author : Salvatore Pirozzi
Publisher : MDPI
Page : 248 pages
File Size : 55,9 Mb
Release : 2021-03-17
Category : Technology & Engineering
ISBN : 9783036504247

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Tactile Sensors for Robotic Applications by Salvatore Pirozzi Pdf

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Author : Jürgen Sturm
Publisher : Springer
Page : 0 pages
File Size : 55,9 Mb
Release : 2013-06-19
Category : Technology & Engineering
ISBN : 3642437141

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Approaches to Probabilistic Model Learning for Mobile Manipulation Robots by Jürgen Sturm Pdf

This book presents techniques that enable mobile manipulation robots to autonomously adapt to new situations. Covers kinematic modeling and learning; self-calibration; tactile sensing and object recognition; imitation learning and programming by demonstration.

Author : Huaping Liu,Fuchun Sun
Publisher : Unknown
Page : 128 pages
File Size : 54,7 Mb
Release : 2018
Category : Electronic book
ISBN : 9811061726

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Robotic Tactile Perception and Understanding by Huaping Liu,Fuchun Sun Pdf

This book introduces the challenges of robotic tactile perception and task understanding, and describes an advanced approach based on machine learning and sparse coding techniques. Further, a set of structured sparse coding models is developed to address the issues of dynamic tactile sensing. The book then proves that the proposed framework is effective in solving the problems of multi-finger tactile object recognition, multi-label tactile adjective recognition and multi-category material analysis, which are all challenging practical problems in the fields of robotics and automation. The proposed sparse coding model can be used to tackle the challenging visual-tactile fusion recognition problem, and the book develops a series of efficient optimization algorithms to implement the model. It is suitable as a reference book for graduate students with a basic knowledge of machine learning as well as professional researchers interested in robotic tactile perception and understanding, and machine learning.

Author : Liviu Moldovan
Publisher : Springer Nature
Page : 538 pages
File Size : 48,5 Mb
Release : 2024-06-28
Category : Electronic
ISBN : 9783031546747

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The 17th International Conference Interdisciplinarity in Engineering by Liviu Moldovan Pdf

Author : Salvatore Pirozzi
Publisher : Unknown
Page : 248 pages
File Size : 50,6 Mb
Release : 2021
Category : Electronic
ISBN : 3036504257

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Tactile Sensors for Robotic Applications by Salvatore Pirozzi Pdf

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people.

Author : Subramanian T. Venkataraman,Thea Iberall
Publisher : Springer Science & Business Media
Page : 349 pages
File Size : 43,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461389743

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Dextrous Robot Hands by Subramanian T. Venkataraman,Thea Iberall Pdf

Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.

Author : Bin Fang,Fuchun Sun,Huaping Liu,Chunfang Liu,Di Guo
Publisher : Springer Nature
Page : 219 pages
File Size : 51,7 Mb
Release : 2020-10-06
Category : Technology & Engineering
ISBN : 9789811551246

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Wearable Technology for Robotic Manipulation and Learning by Bin Fang,Fuchun Sun,Huaping Liu,Chunfang Liu,Di Guo Pdf

Over the next few decades, millions of people, with varying backgrounds and levels of technical expertise, will have to effectively interact with robotic technologies on a daily basis. This means it will have to be possible to modify robot behavior without explicitly writing code, but instead via a small number of wearable devices or visual demonstrations. At the same time, robots will need to infer and predict humans’ intentions and internal objectives on the basis of past interactions in order to provide assistance before it is explicitly requested; this is the basis of imitation learning for robotics. This book introduces readers to robotic imitation learning based on human demonstration with wearable devices. It presents an advanced calibration method for wearable sensors and fusion approaches under the Kalman filter framework, as well as a novel wearable device for capturing gestures and other motions. Furthermore it describes the wearable-device-based and vision-based imitation learning method for robotic manipulation, making it a valuable reference guide for graduate students with a basic knowledge of machine learning, and for researchers interested in wearable computing and robotic learning.