Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference - Volume 2

• Autore: Youssef Ebrahim Samer El
• Pubblicazione: Cham : , : Springer International Publishing AG, , 2024; ©2024
• Edizione: 1st ed.
• Descrizione fisica: 1 online resource (443 pages)
• Altri autori: TokhiMohammad Osman SilvaManuel F RinconLeonardo Mejia
• Nota di contenuto: Intro -- Foreword -- Preface -- Acknowledgements -- Contents -- Contributors -- Abbreviations -- Multibody Systems and Mechanism Design in Robotics -- Efficiency Optimization of the Gear Reducer of an Overhead Power Line Inspection Robot -- 1 Introduction -- 2 Inspection Robot Description -- 3 PGT Efficiency -- 4 Efficiency Optimization -- 5 Inspection Robot's Power Consumption -- 6 Results and Discussion -- 7 Conclusions -- References -- Leg Mechanism of a Quadruped Wheeled Robot with a 4-DoF Spherical Parallel Link Mechanism -- 1 Introduction -- 2 Consideration of Leg Mechanism -- 2.1 Required Specifications for Leg Mechanism -- 2.2 Consideration of Proposed Leg DoF Configurations -- 2.3 Designed Leg Mechanism -- 3 Design and Development of the Leg -- 3.1 Specifications of Developed Leg -- 3.2 Detailed Design of Mechanism -- 3.3 System Configuration and Leg Movement Generation -- 4 Evaluation Experiments -- 4.1 Purpose of the Experiments -- 4.2 Movement Experiments During the Swinging Leg -- 4.3 Movement Experiments During the Standing Leg -- 5 Conclusion -- References -- A New Method of Climbing on a High Place by Elasticity-Embedded Rocker-Bogie Vehicle with Dynamic Motions -- 1 Introduction -- 2 Details of the Proposed Method -- 2.1 About SEA and Exciting Motion -- 2.2 Gain Calculation Method for Inverted Pendulum Control -- 3 Verification of the Proposed Method in Simulation -- 3.1 Sequence to Be Verified in Simulation -- 3.2 Verification Results in Simulation -- 4 Verification of the Proposed Method on Actual Robot -- 4.1 Sequence to be Verified on Actual Robot -- 4.2 Verification Results on Actual Robot -- 5 Conclusion -- References -- Actively Variable Transmission Robotic Leg -- 1 Introduction -- 2 Problem Analysis and Specifications -- 3 Design and Testing Setup -- 4 Results and Discussion -- 5 Conclusions and Future Work -- References. ; Tensegrity Approaches for Flexible Robots: A Review -- 1 Introduction -- 2 Structural Analysis -- 3 Recent Applications -- 4 Conclusions and Future Work -- References -- Robotic Arm Development for a Quadruped Robot -- 1 Introduction -- 2 Hardware -- 3 Kinematic Analysis -- 4 Simulation -- 4.1 Motion-Planning -- 4.2 Velocity Calculation -- 5 Conclusions -- References -- Wrench Capability Analysis of a Serial-Parallel Hybrid Leg of a Disney's Bipedal Robot -- 1 Introduction -- 2 Wrench Capability with the Davies Method and Scaling Factor -- 3 Problem Formulation for the Hybrid Leg Mechanism -- 4 Wrench Capability of Disney's Bipedal Robot -- 5 Conclusions -- References -- Planning and Control -- Bipedal Walking Robot Control Using PMTG Architecture -- 1 Introduction and Related Work -- 2 Environment Description -- 3 Control Algorithm Architecture -- 3.1 Algorithm Overview -- 3.2 CPG-Based Gait Generator -- 3.3 Inverse Kinematic Solver -- 3.4 RL Agent -- 4 Results -- 5 Conclusions and Future Work -- References -- Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robot -- 1 Introduction -- 2 Object and Task Statement Description -- 3 Mathematical Model of the WPM -- 4 Results -- 5 Conclusions -- References -- Three-Rigid-Body Model Based NMPC for Bounding of a Quadruped with Two Spinal Joints -- 1 Introduction -- 2 Nonlinear Model Predictive Control with Planar Three-Rigid-Body Model -- 2.1 Planar Three-Rigid-Body Model -- 2.2 NMPC Problem Formulation -- 2.3 NMPC Problem Solution -- 3 Whole-Body Control -- 3.1 WBC Problem Formulation -- 3.2 Control Scheme Overview -- 4 Simulation and Results -- 4.1 Simulation Setup -- 4.2 Results -- 5 Conclusion and Future Work -- References -- Observer-Based Control Model Test in Biped Robot -- 1 Introduction -- 2 Robot's Stability -- 3 The Control Model. ; 4 The Design of the Real Robot -- 5 The Simulation -- 6 Applying Inverse Kinematics -- 7 Results and Discussion -- 8 Conclusion -- References -- Nonlinear Model Predictive Control and Reinforcement Learning for Capsule-Type Robot with an Opposing Spring -- 1 Introduction -- 2 Mechanical Model of the system -- 2.1 Optimal Control Problems -- 3 Nonlinear Model Predictive Approach -- 4 NMPC Results -- 5 Reinforcement Learning approach -- 5.1 RL Results -- 6 Comparison and Analysis -- 7 Conclusions -- References -- Neural Control and Learning of a Gecko-Inspired Robot for Aerial Self-righting -- 1 Introduction -- 2 Methods -- 2.1 Gecko-Inspired Robot -- 2.2 CPG-RBF Control Network -- 2.3 Black-Box Optimization (BBO) -- 3 Simulations and Results -- 3.1 Simulation Setup -- 3.2 Robot Aerial Self-righting Results -- 3.3 Aerial Self-Righting Dynamic Movement Analysis -- 3.4 Robot Walking and Locomotion Transition -- 4 Discussion and Conclusion -- References -- Double Gradient Method: A New Optimization Method for the Trajectory Optimization Problem -- 1 Introduction -- 2 Optimization Problem -- 3 Double Gradient Method -- 4 Results -- 5 Conclusion -- 5.1 Algorithm Limitations -- 5.2 Algorithm Applications -- 5.3 Future Works -- References -- Planar Motion Control of a Quadruped Robot -- 1 Introduction -- 2 Dynamic Model and Control of the Legs -- 3 Bézier Curves for Steps -- 3.1 Step and Gait Pattern Using Bézier Curves -- 4 Planar Kinematic Model of the Body -- 4.1 Planar Body Control -- 5 Methodology Implementation and Simulation Results -- 5.1 Simulations and Results -- 6 Conclusions -- References -- Exploring Behaviours for Social Robots -- 1 Introduction -- 2 Brief Overview of Behaviours for Social Robots -- 3 Questionnaires Basics -- 3.1 An Argument Against Standard HRI Questionnaires -- 4 Survey 1: Arm Movements for a Social Robot. ; 5 Survey 2: Facial Expressions for a Social Robot -- 5.1 Sparsity Measures -- 5.2 Emotive Mouth Shapes -- 6 Survey 3: Movement for a Social Robot -- 7 Survey 4: Perception of Nonverbal Sounds -- 8 Conclusions -- References -- Impedance Control Analysis for Legged Locomotion in Oscillating Ground -- 1 Introduction -- 1.1 Related Work -- 1.2 Contributions -- 2 Robot Framework -- 2.1 Estimation of Terrain Frequency -- 3 Impedance Analysis -- 4 Conclusion -- References -- Robotic Navigation -- A Cooperative Approach to Teleoperation Through Gestures for Multi-robot Systems -- 1 Introduction -- 2 Proposed Approach -- 2.1 Capture 3D Key Points from RGB-D Image -- 2.2 Trajectory and Movement Strategy -- 2.3 Visual Localization Technique -- 3 Experimental Evaluation -- 3.1 Results -- 4 Conclusion -- References -- NavPi: An Adaptive Local Path-Planning Pipeline for 3D Navigation in Difficult Terrain -- 1 Introduction -- 2 Approach -- 2.1 NavPi Structure -- 2.2 Path Sampler -- 2.3 Obstacle Avoidance -- 2.4 Controller -- 2.5 Safety -- 2.6 Stuck Check -- 3 Results and Experiments -- 4 Conclusion and Future Works -- References -- Indoor Localisation of Mobile Robots with Ultra Wideband Using Experimental TDOA -- 1 Introduction -- 2 Materials -- 3 The Time Difference of Arrival (TDOA) Estimation and Measurement Environment -- 4 Mechanism of Localisation -- 5 Experimental Results -- 6 Conclusion -- References -- Formation Tracking Control of Multiple UAVs in the Presence of Communication Faults -- 1 Introduction -- 2 Preliminaries -- 2.1 Graph Theory -- 2.2 Model -- 2.3 Problem Formulation -- 3 Formation Tracking Control Design -- 4 Results -- 5 Conclusions and Future Works -- References -- Human-Robot Autonomous System: An Interactive Architecture -- 1 Introduction -- 2 Related Work in Socially Aware Navigation Based on Interaction. ; 3 Interactive Architecture Applied to a Social Aware Navigation System -- 4 Implementation and Results: Pepper Robot -- 5 Discussions -- 6 Conclusion -- References -- Comparative Analysis of LiDAR SLAM Techniques in Simulated Environments in ROS Gazebo -- 1 Introduction -- 2 Materials and Methods -- 2.1 Resources -- 2.2 Simulated Environments -- 2.3 LiDAR SLAM Techniques -- 2.4 Data Acquisition Method -- 2.5 Results Analysis -- 3 Results -- 3.1 Processing Time Analysis Between Poses -- 3.2 Distance Traveled Error -- 3.3 Final Position Error in Plan xy -- 3.4 Comparative Graphical Analysis between Algorithms -- 3.5 Mapping Results -- 4 Conclusion -- References -- Instance Segmentation to Path Planning in a Simulated Industrial Environment -- 1 Introduction -- 2 Related Literature -- 3 Method -- 4 Results and Analysis -- 4.1 Experimental Results -- 4.2 Analysis -- 5 Conclusion -- References -- Robotics and Neurotechnologies for Healthcare Improvements -- FPGA-Based Emulation of a Muscle Stretch Reflex on an Electric Series Elastic Actuator -- 1 Introduction -- 2 Hardware -- 3 The Control System -- 4 The Reflex Behavior Implementation -- 5 Experiment: Fixed Barrier Strike -- 6 Experiment: Hammer Strike -- 7 Conclusion and Outlook -- References -- Neural Multimodal Control for Versatile Motion Generation and Continuous Transitions of a Lower-Limb Exoskeleton -- 1 Introduction -- 2 Materials and Methods -- 2.1 Mobilized Lower-Limb Exoskeleton -- 2.2 Neural Multimodal Control -- 3 Experimental Results -- 4 Discussion and Conclusions -- References -- Positional Health Assessment of Collaborative Robots Based on Long Short-Term Memory Auto-Encoder (LSTMAE) Network -- 1 Introduction -- 2 Research Methodology -- 2.1 Long Short-Term Memory (LSTM) Autoencoder -- 2.2 The Proposed Architecture -- 3 Experiments -- 3.1 Experimental Test Setup. ; 3.2 Process Description.
• Titolo autorizzato: Synergetic Cooperation Between Robots and Humans
• ISBN: 3-031-47272-1
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910799485703321
• Lo trovi qui: Univ. Federico II
• Serie: Lecture Notes in Networks and Systems Series