Kooperativer Bibliotheksverbund

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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