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Author : Kaiser, Peter
Publisher : KIT Scientific Publishing
Page : 268 pages
File Size : 42,7 Mb
Release : 2018-08-29
Category : Electronic
ISBN : 9783731507987
Author : Peter Kaiser
Publisher : Unknown
Page : 262 pages
File Size : 45,9 Mb
Release : 2020-10-09
Category : Technology & Engineering
ISBN : 1013278542
The goal of this work is the development of a novel computational formalization of whole-body affordances which is suitable for the multimodal detection and validation of interaction possibilities in unknown environments. The hierarchical framework allows the consistent fusion of affordance-related evidence and can be utilized for realizing shared autonomous control of humanoid robots. The affordance formalization is evaluated in several experiments in simulation and on real humanoid robots. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Author : Dana Kulić,Yoshihiko Nakamura,Oussama Khatib,Gentiane Venture
Publisher : Springer
Page : 858 pages
File Size : 54,6 Mb
Release : 2017-03-20
Category : Technology & Engineering
ISBN : 9783319501154
Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are a venue where scientists can gather and talk about robotics based on this central tenet.
Author : Alexander Dietrich
Publisher : Springer
Page : 187 pages
File Size : 40,8 Mb
Release : 2016-07-02
Category : Technology & Engineering
ISBN : 9783319405575
Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Author : Bernd Henze
Publisher : Springer Nature
Page : 209 pages
File Size : 48,5 Mb
Release : 2021-11-03
Category : Technology & Engineering
ISBN : 9783030872120
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Author : Antonio Bicchi,Wolfram Burgard
Publisher : Springer
Page : 720 pages
File Size : 40,8 Mb
Release : 2017-07-24
Category : Technology & Engineering
ISBN : 9783319609164
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Author : Cengiz Kahraman,Eda Bolturk
Publisher : Springer Nature
Page : 310 pages
File Size : 51,6 Mb
Release : 2021-04-04
Category : Technology & Engineering
ISBN : 9783030671631
This book offers a comprehensive reference guide for modeling humanoid robots using intelligent and fuzzy systems. It provides readers with the necessary intelligent and fuzzy tools for controlling humanoid robots by incomplete, vague, and imprecise information or insufficient data, where classical modeling approaches cannot be applied. The respective chapters, written by prominent researchers, explain a wealth of both basic and advanced concepts including fuzzy control, metaheuristic-based control, neutrosophic control, etc. To foster reader comprehension, all chapters include relevant numerical examples or case studies. Taken together, they form an excellent reference guide for researchers, lecturers, and postgraduate students pursuing research on humanoid robots. Moreover, by extending all the main aspects of humanoid robots to its intelligent and fuzzy counterparts, the book presents a dynamic snapshot of the field that is expected to stimulate new directions, ideas, and developments.
Author : Kaul, Lukas Sebastian
Publisher : KIT Scientific Publishing
Page : 258 pages
File Size : 43,8 Mb
Release : 2019-05-15
Category : Computers
ISBN : 9783731509035
Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Author : Grotz, Markus
Publisher : KIT Scientific Publishing
Page : 202 pages
File Size : 53,5 Mb
Release : 2021-12-21
Category : Computers
ISBN : 9783731511014
Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot's view in order to explore interaction possibilities of the scene.
Author : Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi
Publisher : Springer
Page : 232 pages
File Size : 49,7 Mb
Release : 2014-07-15
Category : Technology & Engineering
ISBN : 9783642545368
This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.
Author : Matthew Spenko,Stephen Buerger,Karl Iagnemma
Publisher : Springer
Page : 684 pages
File Size : 45,8 Mb
Release : 2018-04-09
Category : Technology & Engineering
ISBN : 9783319746661
The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015. The competition was the culmination of 33 months of demanding work by 23 teams and required humanoid robots to perform challenging locomotion and manipulation tasks in a mock disaster site. The challenge was conceived as a response to the Japanese Fukushima nuclear disaster of March 2011. The Fukushima disaster was seen as an ideal candidate for robotic intervention since the risk of exposure to radiation prevented human responders from accessing the site. This volume, edited by Matthew Spenko, Stephen Buerger, and Karl Iagnemma, includes commentary by the organizers, overall analysis of the results, and documentation of the technical efforts of 15 competing teams. The book provides an important record of the successes and failures involved in the DARPA Robotics Challenge and provides guidance for future needs to be addressed by policy makers, funding agencies, and the robotics research community. Many of the papers in this volume were initially published in a series of special issues of the Journal of Field Robotics. We have proudly collected versions of those papers in this STAR volume.
Author : Fiona Fui-Hoon Nah,Keng Siau
Publisher : Springer Nature
Page : 667 pages
File Size : 41,8 Mb
Release : 2021-07-03
Category : Computers
ISBN : 9783030777500
This book constitutes the refereed proceedings of the 8th International Conference on HCI in Business, Government and Organizations, HCIBGO 2021, which was held as part of HCI International 2021 and took place virtually during July 24-29, 2021. The total of 1276 papers and 241 posters included in the 39 HCII 2021 proceedings volumes was carefully reviewed and selected from 5222 submissions. The papers included in this book were organized in topical sections as follows: electronic, mobile and ubiquitous commerce; HCI in finance and industry; work and business operations; innovation, collaboration, and knowledge sharing; and digital transformation and artificial intelligence.
Author : Olivier Sigaud,Jan Peters
Publisher : Springer
Page : 538 pages
File Size : 50,6 Mb
Release : 2009-12-30
Category : Technology & Engineering
ISBN : 9783642051814
From an engineering standpoint, the increasing complexity of robotic systems and the increasing demand for more autonomously learning robots, has become essential. This book is largely based on the successful workshop “From motor to interaction learning in robots” held at the IEEE/RSJ International Conference on Intelligent Robot Systems. The major aim of the book is to give students interested the topics described above a chance to get started faster and researchers a helpful compandium.
Author : Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi
Publisher : Springer Science & Business Media
Page : 320 pages
File Size : 50,6 Mb
Release : 2010-08-12
Category : Technology & Engineering
ISBN : 9781849962209
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
Author : Toshio Fukuda,Fei Chen,Qing Shi
Publisher : MDPI
Page : 555 pages
File Size : 43,8 Mb
Release : 2018-11-07
Category : Electronic books
ISBN : 9783038970453
This book is a printed edition of the Special Issue "Bio-Inspired Robotics" that was published in Applied Sciences
