A Visual Servoing Approach to Human-Robot Interactive Object Transfer PDF Download
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Author: Ying Wang
Publisher:
ISBN: 9783741204128
Category :
Languages : en
Pages :
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Book Description
Author: Ying Wang
Publisher:
ISBN: 9783741204128
Category :
Languages : en
Pages :
Get Book Here
Book Description
Author: Ying Wang
Publisher: BoD – Books on Demand
ISBN: 3739238895
Category : Computers
Languages : en
Pages : 194
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Book Description
Taking human factors into account, a visual servoing approach aims to facilitate robots with real-time situational information to accomplish tasks in direct and proximate collaboration with people. A hybrid visual servoing algorithm, a combination of the classical position-based and image-based visual servoing, is applied to the whole task space. A model-based tracker monitors the human activities, via matching the human skeleton representation and the image of people in image. Grasping algorithms are implemented to compute grasp points based on the geometrical model of the robot gripper. Whilst major challenges of human-robot interactive object transfer are visual occlusions and making grasping plans, this work proposes a new method of visually guiding a robot with the presence of partial visual occlusion, and elaborate the solution to adaptive robotic grasping.
Author: Guido Herrmann
Publisher: Springer
ISBN: 3319026755
Category : Computers
Languages : en
Pages : 609
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Book Description
This book constitutes the refereed proceedings of the 5th International Conference on Social Robotics, ICSR 2013, held in Bristol, UK, in October 2013. The 55 revised full papers and 13 abstracts were carefully reviewed and selected from 108 submissions and are presented together with one invited paper. The papers cover topics such as human-robot interaction, child development and care for the elderly, as well as technical issues underlying social robotics: visual attention and processing, motor control and learning.
Author: Jinglin Shen
Publisher:
ISBN:
Category : Human-robot interaction
Languages : en
Pages : 214
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Book Description
Object grasping is done using the Simultaneous Image/Position Visual Servoing method. An automatic goal pose/image generation method for visual servoing with respect to a projected pattern is proposed. Experimental results are presented to demonstrate how the two systems are used for human-robot-interaction in robot grasping applications.
Author: Gholamreza Anbarjafari
Publisher: BoD – Books on Demand
ISBN: 178923316X
Category : Computers
Languages : en
Pages : 186
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Book Description
This book takes the vocal and visual modalities and human-robot interaction applications into account by considering three main aspects, namely, social and affective robotics, robot navigation, and risk event recognition. This book can be a very good starting point for the scientists who are about to start their research work in the field of human-robot interaction.
Author: Min Wu
Publisher: Logos Verlag Berlin GmbH
ISBN: 383255484X
Category : Technology & Engineering
Languages : en
Pages : 212
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Book Description
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.
Author: Bin Fang
Publisher: Frontiers Media SA
ISBN: 2889668444
Category : Science
Languages : en
Pages : 224
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Book Description
Author: Vladimir Kulyukin
Publisher: BoD – Books on Demand
ISBN: 953307020X
Category : Computers
Languages : en
Pages : 357
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Book Description
Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers.
Author: Graziano Chesi
Publisher: Springer
ISBN: 1849960895
Category : Technology & Engineering
Languages : en
Pages : 410
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Book Description
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.
Author: Geoffrey Taylor
Publisher: Springer
ISBN: 3540334556
Category : Technology & Engineering
Languages : en
Pages : 231
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Book Description
This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.
