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Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference - Volume 2
| Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference - Volume 2 |
| Autore | Youssef Ebrahim Samer El |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing AG, , 2024 |
| Descrizione fisica | 1 online resource (443 pages) |
| Altri autori (Persone) |
TokhiMohammad Osman
SilvaManuel F RinconLeonardo Mejia |
| Collana | Lecture Notes in Networks and Systems Series |
| ISBN | 3-031-47272-1 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| 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. |
| Record Nr. | UNINA-9910799485703321 |
Youssef Ebrahim Samer El
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| Cham : , : Springer International Publishing AG, , 2024 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference--Volume 1
| Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference--Volume 1 |
| Autore | Youssef Ebrahim Samer El |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing AG, , 2024 |
| Descrizione fisica | 1 online resource (282 pages) |
| Altri autori (Persone) |
TokhiMohammad Osman
SilvaManuel F RinconLeonardo Mejia |
| Collana | Lecture Notes in Networks and Systems Series |
| ISBN | 3-031-47269-1 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Foreword -- Preface -- Acknowledgements -- Contents -- Contributors -- Abbreviations -- Plenary Presentations -- Biped Walking with Robots and Exoskeletons: Marching Towards Bionic Gait -- Multibody Dynamics with Contact-Impact Events: Roots, Models and Applications -- Human-Like Bipedal Locomotion -- Climbing and Inspection Robots -- Analysis of the Influence of Human Exposure to Risk and ESG as Motivators for the Implementation of Climbing and Mobile Robots -- 1 Introduction -- 2 Related Work -- 3 Discussion and Results -- 3.1 Trend Analysis in Climbing and Mobile Robots -- 3.2 Robots Developed by the SENAI Innovation Institute for Manufacturing Systems -- 4 Conclusion -- References -- Multidimensional Map: A Conceptual Design Tool to Develop Robots for Power Lines -- 1 Introduction -- 2 Mechanical Strength of Power Lines -- 2.1 Catenary Modelling -- 2.2 Forces from a Concentrated Load on the Power Line -- 2.3 Safety Factor for a Robot on Standby -- 2.4 Safety Factor for Installing a Robot on a Power Cable -- 3 Electronic Control Specifications and Power Supply -- 4 Conceptual Design Tool to Evaluate Power Line Robots -- 5 Case Study: Center of Mass Maneuvering Robot -- 6 Discussion -- 7 Conclusions -- References -- Mobility Strategy of Multi-limbed Climbing Robots for Asteroid Exploration -- 1 Introduction -- 1.1 Related Works -- 1.2 Objective and Contributions -- 2 Mobility Strategy in Microgravity -- 2.1 Gait Planning -- 2.2 Motion Planning -- 3 Simulated Case Studies -- 4 Experimental Case Study -- 5 Conclusions -- References -- Low-Cost Prototype for Analysis and Monitoring of Underwater Structures -- 1 Introduction -- 2 Methodology -- 2.1 Sonar -- 2.2 Mechanical Design -- 2.3 Embedded Electronics -- 2.4 Pre-processing -- 2.5 Pos-processing -- 3 Experimental Results -- 4 Conclusion -- References.
Swerve Drive Autonomous Robot for Tiles Thermographic Inspection -- 1 Introduction -- 2 Description of the Robotic System -- 2.1 Mechanical System Description -- 2.2 Electronics and Communication -- 3 Control Architecture -- 3.1 Robot Description and Navigation Package -- 4 Inspection Test and Strategy -- 4.1 Image Processing for Hollowness Identification -- 5 Conclusions -- References -- Walking Robot Applied to the Tube Inspection Activity -- 1 Introduction -- 2 State of Art -- 2.1 Pipe Environment -- 2.2 Robots Attribute -- 2.3 Robots Categories -- 2.4 Legged Type of Robot -- 3 Development -- 3.1 Structural Synthesis -- 3.2 Type and Dimensional Synthesis -- 4 Results -- 5 Conclusion -- References -- Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection -- 1 Introduction -- 2 Materials and Methods -- 2.1 Robot Hardware -- 2.2 Robot Control -- 3 Experiments and Results -- 3.1 1st Experiment: Adhesion and Friction -- 3.2 2nd Experiment: Different Wheel Configurations -- 3.3 3rd Experiment: Payload -- 4 Discussion and Conclusion -- References -- Education in Robotics and Robotics in Education -- A Didactic Approach to Energy-Based Dynamic Modeling: Least Action, D'Alembert Principle and Euler-Lagrange Formalism -- 1 Introduction -- 2 Functional and Least Action -- 2.1 Case Study to Understand the Concept of Functional and Action -- 2.2 Case Study to Understand the Concept of Least Action -- 3 The Principle of D'Alembert -- 3.1 Case Study of Modeling Dynamics for a Simple System Using the Principle of D'Alembert -- 3.2 Case Study of Differential Kinematics and Statics of a Robotic Manipulator Using the Principle of D'Alembert -- 4 Euler-Lagrange Formalism -- 4.1 Case Study of Modeling Dynamics for a Simple System Using the Euler-Lagrange Formalism. 4.2 Case Study of Modeling Dynamics for a 2 DOF Mechanism Using the Euler-Lagrange Formalism -- 5 Conclusion -- References -- Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study -- 1 Introduction -- 2 Methodology -- 2.1 Kinematics -- 2.2 Trajectory Control -- 3 Results and Discussion -- 4 Conclusions and Future Work -- References -- Design and Development of an Omnidirectional Mecanum Platform for the RobotAtFactory 4.0 Competition -- 1 Introduction -- 2 State of the Art -- 3 Development and Results -- 3.1 Hardware Architecture -- 3.2 Kinematics Models -- 3.3 Simulation and Real Scenario Comparison -- 4 Conclusion -- References -- Hybrid and Convertible Unmanned Aerial Vehicles -- Single-Segment Analysis for the Performance Optimization of a Tilt-Rotor All-Electric RPAS. ProVANT-EMERGENTIa Project -- 1 Introduction -- 2 Aircraft Modelling -- 2.1 Flight Dynamics Model -- 2.2 Aerodynamic Model -- 2.3 Propulsive Model -- 3 Flight Segments and Case Studies -- 3.1 Vertical Take Off -- 3.2 Hovering -- 3.3 Vertical to Plane-Mode Regime Transition -- 3.4 Plane-Mode Climb -- 3.5 Cruise Straight-and-Level Flight -- 3.6 Plane-Mode Descent -- 3.7 Horizontal to Vertical Regime Transition -- 3.8 Vertical Landing -- 4 Results -- 4.1 Vertical Take-Off -- 4.2 Vertical to Horizontal Transition -- 4.3 Cruise Straight-and-Level Flight -- 5 Conclusions and Future Work -- References -- Parametric Aerodynamic Study of a Convertible Aircraft Using CFD Tools. ProVANT EMERGENTIa Project -- 1 Introduction -- 2 Computational Fluid Dynamics (CFD) -- 3 Setup of the Simulations -- 4 Results -- 4.1 V-Tail -- 4.2 Wing -- 4.3 Fuselage -- 4.4 Whole Aircraft -- 5 Conclusions and Future Work -- References. Wind Tunnel Study of a VTOL-UAV and Its V-Tail for Its Longitudinal and Directional Aerodynamic Characterisation. ProVANT EMERGENTIa project -- 1 Introduction -- 1.1 State of the Art -- 2 Experimental Setup and Models Description -- 2.1 Wind Tunnel Description. Positioning and Data Acquisition Systems -- 2.2 Models' Adaptation to the Wind Tunnel and Fabrication -- 3 Experimental Procedure -- 4 Corrections and Data Processing -- 4.1 Wind Tunnel Corrections -- 4.2 Aerodynamic Forces and Moments Coefficients Calculation -- 4.3 Data Processing -- 4.4 Statistical Validation of the Experimental Results -- 5 Analysis of the Results -- 5.1 Longitudinal and Directional Characterisation of the Aircraft -- 5.2 Longitudinal Characterisation of the V-Tail with Deflections -- 5.3 Validation of the Results by Means of CFD Simulations -- 6 Conclusion -- References -- Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation -- 1 Introduction -- 2 Octocopter UAV Modeling -- 3 Nonlinear W Control of the Octocopter UAV -- 4 Joint State, Input and Parameter Estimation -- 4.1 Load Parameterization, Sensors, and Control Structure -- 5 Numerical Experiments -- 6 Conclusions -- References -- A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV -- 1 Introduction -- 2 Quadtiltrotor UAV Modeling -- 3 Control Design -- 4 Results -- 5 Conclusions -- References -- Prototyping of a Sealing Cap for a Hybrid Unmanned Aerial Underwater Vehicle with Onboard Instrumentation -- 1 Introduction -- 2 Related Work -- 3 Vehicle Configuration -- 3.1 Proof Capsule for HUAUV -- 3.2 Basic Instrumentation for a HUAUV -- 4 Validation Methodology -- 5 Results, Discussion, and Future Works -- References -- Visual Sensors Benchmark for Development of an Autonomous Navigation Setup for a Hybrid Unmanned Aerial Underwater Vehicle. 1 Introduction -- 2 System Overview -- 2.1 Watertight Enclosure -- 2.2 System Configuration -- 3 Theoretical Aspects -- 3.1 Related Works -- 3.2 Stereo Vision Observation Model-ZED-M -- 3.3 Stereo Depth Camera-Intel RealSense D435i -- 3.4 Setup Restriction -- 4 Experiment -- 5 Discussion -- 6 Conclusion -- References -- Legged Robots: From Foundations to Current Challenges and Perspectives -- Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning -- 1 Introduction -- 2 Planar Covariation of Limb Elevation Angles During Walking -- 3 Bipedal Robot Model -- 4 Walking Control Methods -- 4.1 Deep Reinforcement Learning -- 4.2 Policy Gradient Methods -- 4.3 Rewards -- 5 Experiments -- 6 Conclusion and Future Works -- References -- FreeLander: A Versatile, Modular, Multi-legged Robot Platform for Complex Terrains -- 1 Introduction -- 2 Materials and Methods -- 3 Experimental Results -- 3.1 Testing the Two-legged Robot with Electromagnetic Feet in Various Pipe Conditions -- 3.2 Testing the Six- and Eight-Legged Robots on Different Terrains -- 4 Discussion and Conclusion -- References -- A Two-Legged Robot for Climbing Vertical Surfaces Based on Pressure-Sensitive Adhesion and Peeling -- 1 Introduction -- 2 Design Overview -- 2.1 Robot Design -- 2.2 Fabrication of the Robot -- 3 Kinematics and Dynamics of the Robot -- 4 Results and Discussion -- 5 Preliminary Testing -- 6 Conclusion -- References -- Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs -- 1 Introduction and State-of-the-Art -- 2 Computing the Optimal Height for Stair-Climbing -- 2.1 Assumptions and Definitions -- 2.2 Method Description and Definition of Optimal Height -- 3 Stair-Climbing Charts -- 4 Results -- 5 Conclusions -- References -- Author Index. |
| Record Nr. | UNINA-9910835058003321 |
| Youssef Ebrahim Samer El | ||
| Cham : , : Springer International Publishing AG, , 2024 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||