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A Stable and Transparent Framework for Adaptive Shared Control of Robots
Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final comman...
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
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.
Haptics: Perception, Devices, Control, and Applications
The two-volume set LNCS 9774 and 9775 constitutes the refereed proceedings of the 10th International Conference EuroHaptics 2016, held in London, UK, in July 2016. The 100 papers (36 oral presentations and 64 poster presentations) presented were carefully reviewed and selected from 162 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as perception of hardness and softness; haptic devices; haptics and motor control; tactile cues; control of haptic interfaces; thermal perception; robotics and sensing; applications.
Human-in-the-loop Learning and Control for Robot Teleoperation
Human-in-the-loop Learning and Control for Robot Teleoperation presents recent, research progress on teleoperation and robots, including human-robot interaction, learning and control for teleoperation with many extensions on intelligent learning techniques. The book integrates cutting-edge research on learning and control algorithms of robot teleoperation, neural motor learning control, wave variable enhancement, EMG-based teleoperation control, and other key aspects related to robot technology, presenting implementation tactics, adequate application examples and illustrative interpretations. Robots have been used in various industrial processes to reduce labor costs and improve work efficie...
Roboter für Assistenzfunktionen : Konzeptstudien für die Interaktion in der Praxis
Der Einsatz von aktuellen Robotertechnologien im Alltag wird zunehmend möglich. Doch es ergeben sich Herausforderungen: Sicherheit, rechtliche Rahmenbedingungen, Zuverlässigkeit und Geschäftsmodelle müssen unter speziellen Bedingungen betrachtet werden. Auch Akzeptanz und Interaktion zwischen Mensch und Roboter sind zentral für den Erfolg. Dieser Sammelband fasst 15 Studien aus der BMBF Förderlinie “Roboter für Assistenzfunktionen: Interaktion in der Praxis” zusammen. - The performance and flexibility of robot technologies make it possible to bring robots to everyday life. This creates many challenges: safety, legal regulations, reliability, reusability, and business models must be considered under special conditions. The acceptance and interaction of humans and robots are of central importance for the success of the applications. This collection summarises 15 studies from the BMBF-funded program "Robots for Assistance: Interaction in the Field."
Aerial Manipulation
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads th...
Encyclopedia Of Medical Robotics, The (In 4 Volumes)
The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenge...
Cartesian Impedance Control of Redundant and Flexible-Joint Robots
By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reachin...
Mensch und Computer 2015 – Workshopband
The Workshop Volume from the Humans and Computers Conference documents the advanced tutorials that were presented to deepen the understanding gained from the conference lectures. It presents case studies along with accompanying exercises.
Rigid Body Dynamics for Beginners
Has anyone experienced difficulty and confusion in understanding what the Euler angles, quaternions, and direction cosine matrices are, and furthermore, about the relationships among them? This book is for those who had struggled to figure out what all the aforementioned concepts are, and also provides a practical example that could be easily followed with MATLAB. In addition, some surface of linear motions will also be touched so that in the end, a set of equations of motion that describe the motion of a rigid body in three-dimensional space could be constructed. Following step by step, the reader will be gradually immersed into the joy of learning and applying basic attitude dynamics. The book will be good for those who are already familiar in the field by helping them reorganize the concepts and knowledge they have learned before.
