Kooperativer Bibliotheksverbund

UID:

Format: 1 online resource (252 pages)

Edition: 1st ed. 2024.

ISBN: 9783031550003 , 3031550005

Series Statement: Springer Proceedings in Advanced Robotics, 29

Content: Comprising sixteen independent chapters, this book covers recent advancements and emerging pathways within human-friendly robotics on physical and cognitive levels. Each chapter presents a novel work presented at HFR 2023 by researchers from various robotic domains, where new theories, methodologies, technologies, challenges, and empirical and experimental studies are discussed. The multidisciplinary nature of the authors enriches the compilation with varied viewpoints, making it an excellent resource for academics, researchers, and industry professionals to get acquainted with the state of the art on human-robot interaction.

Note: A Concise Overview of Safety Aspects in Human-Robot Interaction -- A Hybrid Control Approach for a Pneumatic-actuated Soft Robot -- BICEP: a Bio-Inspired Compliant Elbow Prosthesis -- Development of a Patient Behaviour Model for an Adaptive Medical Robot -- Emotion-Aware Control Framework for Human-Robot Collaboration.

Additional Edition: ISBN 9783031549991

Additional Edition: ISBN 3031549996

Language: English

DOI: 10.1007/978-3-031-55000-3

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 online resource (252 pages)

Edition: 1st ed.

ISBN: 3-031-55000-5

Series Statement: Springer Proceedings in Advanced Robotics Series ; v.29

Note: Intro -- Foreword -- Preface -- Organization -- Contents -- A Concise Overview of Safety Aspects in Human-Robot Interaction -- 1 Introduction -- 2 Problem Statement and Contribution -- 3 Proposed Multi-layered HRI Safety Architecture -- 3.1 Identified Safety Layers for GS-HRI -- 3.2 Additional Middle-Ware Safety Considerations -- 4 Safety-as-a-Service: Implementation Prospects -- 5 Conclusion and Future Work -- References -- A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot -- 1 Introduction -- 2 Physical System and Problem Formulation -- 3 Modeling -- 3.1 Simplified Model -- 4 Control Design -- 4.1 Feedforward Controller -- 4.2 Supervised Learning: GPR -- 5 Implementation Process -- 5.1 Identifying K -- 5.2 From Pressures to Torques -- 5.3 Implementation of the GPR -- 6 Experimental Results -- 6.1 Performance Assessment -- 7 Concluding Remarks and Future Work -- References -- BICEP: A Bio-Inspired Compliant Elbow Prosthesis -- 1 Introduction -- 2 Proposed Design -- 2.1 Model -- 2.2 Design and Realization -- 2.3 Actuation Architecture -- 3 Experimental Validation -- 3.1 Prototype Specifics -- 3.2 Experimental Setup -- 3.3 Static Load Test -- 3.4 Dynamic Load Test -- 3.5 Sideway Perturbation -- 4 Conclusion -- References -- Development of a Patient Behaviour Model for an Adaptive Medical Robot -- 1 Introduction -- 2 Problem Statement and Analysis -- 2.1 Description of the VEMOTION System -- 2.2 Objective -- 2.3 Envisioned Model Accuracy -- 3 Patient Model -- 3.1 Basic Rigid Body Model -- 3.2 Lagrangian Approach -- 3.3 Intermediate Results -- 3.4 Inclusion of Additional Effects -- 3.5 Tuning of the Parameters -- 4 Results and Discussion -- 5 Conclusion -- References -- Emotion-Aware Control Framework for Human-Robot Collaboration -- 1 Introduction -- 2 Problem Statement -- 3 Architecture -- 3.1 Emotion Recognition. , 3.2 Trajectory Planner -- 3.3 Emotion-Aware and Safe Scaling -- 4 Experimental Validation -- 5 Conclusions and Future Works -- References -- Evaluation of Tactile Feedback for Teleoperated Glove-Based Interaction Tasks -- 1 Introduction -- 1.1 Related Works -- 1.2 Paper Contribution -- 2 Teleoperation System -- 2.1 Primary System -- 2.2 Secondary System -- 3 Teleoperation Implementation -- 3.1 Teleoperation Software Environment -- 3.2 Robot Controller -- 3.3 Gripper Controller -- 3.4 Haptic Feedback -- 4 Experiments -- 4.1 Description of the Setup -- 4.2 Descriptions of the Experiments -- 4.3 Evaluation Criteria -- 4.4 Participant Preparation -- 4.5 Results -- 5 Conclusion and Future Works -- References -- Explainable Human-Robot Interaction for Imitation Learning in Augmented Reality -- 1 Introduction -- 2 Related Work -- 3 XAI Cues Design for Learning by Demonstration in AR -- 4 System Architecture -- 5 Experimental Framework -- 6 Results -- 7 Discussion -- 8 Conclusion -- References -- Imitation Learning-Based Visual Servoing for Tracking Moving Objects -- 1 Introduction -- 2 Background -- 3 Method -- 3.1 Problem Definition -- 3.2 Dataset -- 3.3 Learning the Compensation Term -- 4 Results -- 4.1 Validation Setup -- 4.2 Comparison with the Standard VS Controller -- 4.3 Target Tracking Experiments with Unseen Initial Conditions -- 5 Discussion and Conclusion -- References -- Joint Position Bounds in Resolved-Acceleration Control: A Comparison -- 1 Introduction -- 2 Background -- 2.1 P-Steps Ahead Predictor (PSAP) -- 2.2 Control Barrier Functions (CBF) -- 2.3 Invariance -- 3 Numerical Evaluation and Comparison -- 4 Experimental Results -- 5 Conclusions and Future Works -- References -- Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots -- 1 Introduction -- 1.1 State of the Art -- 1.2 Contribution. , 2 Preliminaries -- 2.1 Kinematics -- 2.2 Dynamics -- 2.3 Generalized-Momentum Observer -- 3 Reliable Contact Classification -- 3.1 Clamping and Collision Classification via a Neural Network -- 3.2 Dangerous False Classifications and Reactions -- 3.3 Quantifying Unreliable Classifications -- 4 Validation -- 4.1 Experimental Setup with Uncertainty Quantification -- 4.2 Data Distribution of False Classifications A and B -- 4.3 False Classification A: Clamping Classified as Collision -- 4.4 False Classification B: Collision Classified as Clamping -- 4.5 Influence of the Uncertainty Quantification on Correct Contact Classifications -- 5 Conclusions -- References -- Safe Multimodal Communication in Human-Robot Collaboration -- 1 Introduction -- 2 Problem Statement -- 3 Proposed Architecture -- 3.1 Multimodal Fusion -- 4 Safety Layer -- 5 Experimental Validation -- 5.1 Implementation Details -- 5.2 Experiment Description and Results -- 6 Conclusions -- References -- Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC -- 1 Introduction -- 2 Problem Formulation -- 2.1 Mathematical Preliminaries -- 2.2 Overview of the Problem -- 3 ScLERP-MPC: A Motion Planner Based on Screw-Linear Interpolation and Model-Predictive Control -- 4 Experimental Results -- 4.1 Experimental Setup -- 4.2 Simulations -- 4.3 Experiments -- 5 Conclusions and Future Works -- 6 Mathematical Preliminaries -- References -- Task Space Control of Hydraulic Construction Machines Using Reinforcement Learning -- 1 Introduction -- 2 System Description -- 3 Method -- 3.1 Data-Driven Actuator Model -- 3.2 Methods of Training -- 3.3 Learning the Task-Space Control Policy -- 3.4 Jacobian Based Task Space Control -- 4 Experimental Evaluation -- 4.1 Sim2Real Gap -- 4.2 Task Space Control -- 5 Conclusion -- References. , Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance -- 1 Introduction -- 2 Methods -- 2.1 Modelling of Tendon Routing Systems -- 2.2 Exploring Human Finger Performances -- 2.3 Grasping Quality Metrics -- 3 Results -- 4 Discussion and Conclusions -- References -- Towards a Holistic Framework for Explainable Robot Navigation -- 1 Introduction -- 2 Related Work -- 2.1 Explainable Artificial Intelligence (XAI) -- 2.2 Explainable Robotics -- 2.3 Explainable Navigation -- 2.4 Explanation Frameworks -- 3 Framework for Explainable Robot Navigation -- 3.1 HiXRoN Architecture -- 3.2 Explanation Target (What to Explain?) -- 3.3 Explanation Timing (When to Explain?) -- 3.4 Explanation Representation (How to Explain?) -- 3.5 Explanation Duration (How Long to Explain?) -- 4 Conclusion -- References -- Unpacking the Complexity of Autonomous Mobile Robot (AMR) Communication Intentions Through Ontology -- 1 Introduction -- 2 State of the ART -- 2.1 Communication Models in Human-Robot-Interaction (HRI) -- 2.2 Ontologies -- 3 Methods -- 4 Ontology -- 5 Discussion -- 5.1 Opportunities -- 5.2 Limitations -- 6 Outlook -- References -- Author Index.

Additional Edition: ISBN 3-031-54999-6

Language: English

UID:

Format: XII, 242 p. 108 illus., 102 illus. in color. , online resource.

Edition: 1st ed. 2024.

ISBN: 9783031550003

Series Statement: Springer Proceedings in Advanced Robotics, 29

Content: Comprising sixteen independent chapters, this book covers recent advancements and emerging pathways within human-friendly robotics on physical and cognitive levels. Each chapter presents a novel work presented at HFR 2023 by researchers from various robotic domains, where new theories, methodologies, technologies, challenges, and empirical and experimental studies are discussed. The multidisciplinary nature of the authors enriches the compilation with varied viewpoints, making it an excellent resource for academics, researchers, and industry professionals to get acquainted with the state of the art on human-robot interaction.

Note: A Concise Overview of Safety Aspects in Human-Robot Interaction -- A Hybrid Control Approach for a Pneumatic-actuated Soft Robot -- BICEP: a Bio-Inspired Compliant Elbow Prosthesis -- Development of a Patient Behaviour Model for an Adaptive Medical Robot -- Emotion-Aware Control Framework for Human-Robot Collaboration.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783031549991

Additional Edition: Printed edition: ISBN 9783031550010

Additional Edition: Printed edition: ISBN 9783031550027

Language: English

DOI: 10.1007/978-3-031-55000-3

URL: https://doi.org/10.1007/978-3-031-55000-3