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Adaptive Optimal Control In Physical Human Robot Interaction
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Book Synopsis Adaptive Optimal Control in Physical Human-robot Interaction by : Rebecca C Bell
Download or read book Adaptive Optimal Control in Physical Human-robot Interaction written by Rebecca C Bell and published by . This book was released on 2019 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: What if there is a way to integrate prosthetics seamlessly with the human body and robots could help improve the lives of children with disabilities? With physical human-robot interaction being seen in multiple aspects of life, including industry, medical, and social, how these robots are interacting with human becomes even more important. Therefore, how smoothly the robot can interact with a person will determine how safe and efficient this relationship will be. This thesis investigates adaptive control method that allows a robot to adapt to the human's actions based on the interaction force. Allowing the relationship to become more effortless and less strained when the robot has a different goal than the human, as seen in Game Theory, using multiple techniques that adapts the system. Few applications this could be used for include robots in physical therapy, manufacturing robots that can adapt to a changing environment, and robots teaching people something new like dancing or learning how to walk after surgery.The experience gained is the understanding of how a cost function of a system works, including the tracking error, speed of the system, the robot's effort, and the human's effort. Also, this two-agent system, results into a two-agent adaptive impedance model with an input for each agent of the system. This leads to a nontraditional linear quadratic regulator (LQR), that must be separated and then added together. Thus, creating a traditional LQR. This new experience can be used in the future to help build better safety protocols on manufacturing robots. In the future the knowledge learned from this research could be used to develop technologies for a robot to allow to adapt to help counteract human error.
Book Synopsis Human-Centric Robotics by : Manuel F. Silva
Download or read book Human-Centric Robotics written by Manuel F. Silva and published by . This book was released on 2017 with total page 696 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured.
Book Synopsis Human-in-the-Loop Robot Control and Learning by : Luka Peternel
Download or read book Human-in-the-Loop Robot Control and Learning written by Luka Peternel and published by Frontiers Media SA. This book was released on 2020-01-22 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
Book Synopsis Trends in Control and Decision-Making for Human–Robot Collaboration Systems by : Yue Wang
Download or read book Trends in Control and Decision-Making for Human–Robot Collaboration Systems written by Yue Wang and published by Springer. This book was released on 2017-01-24 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book. Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.
Book Synopsis Adaptive Control for Robotic Manipulators by : Dan Zhang
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Book Synopsis A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by : Min Wu
Download or read book A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration written by Min Wu and published by Logos Verlag Berlin GmbH. This book was released on 2022-06-14 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Algorithms and Law by : Martin Ebers
Download or read book Algorithms and Law written by Martin Ebers and published by Cambridge University Press. This book was released on 2020-07-23 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms permeate our lives in numerous ways, performing tasks that until recently could only be carried out by humans. Artificial Intelligence (AI) technologies, based on machine learning algorithms and big-data-powered systems, can perform sophisticated tasks such as driving cars, analyzing medical data, and evaluating and executing complex financial transactions - often without active human control or supervision. Algorithms also play an important role in determining retail pricing, online advertising, loan qualification, and airport security. In this work, Martin Ebers and Susana Navas bring together a group of scholars and practitioners from across Europe and the US to analyze how this shift from human actors to computers presents both practical and conceptual challenges for legal and regulatory systems. This book should be read by anyone interested in the intersection between computer science and law, how the law can better regulate algorithmic design, and the legal ramifications for citizens whose behavior is increasingly dictated by algorithms.
Download or read book Robotics written by Nicholas Roy and published by MIT Press. This book was released on 2013-07-05 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics: Science and Systems VIII spans a wide spectrum of robotics, bringing together contributions from researchers working on the mathematical foundations of robotics, robotics applications, and analysis of robotics systems.
Book Synopsis Robot Manipulator Control by : Frank L. Lewis
Download or read book Robot Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Book Synopsis Human-centric Robotics - Proceedings Of The 20th International Conference Clawar 2017 by : Manuel F Silva
Download or read book Human-centric Robotics - Proceedings Of The 20th International Conference Clawar 2017 written by Manuel F Silva and published by World Scientific. This book was released on 2017-08-23 with total page 715 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured.
Book Synopsis Artificial Intelligence for Human Computer Interaction: A Modern Approach by : Yang Li
Download or read book Artificial Intelligence for Human Computer Interaction: A Modern Approach written by Yang Li and published by Springer Nature. This book was released on 2021-11-04 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited book explores the many interesting questions that lie at the intersection between AI and HCI. It covers a comprehensive set of perspectives, methods and projects that present the challenges and opportunities that modern AI methods bring to HCI researchers and practitioners. The chapters take a clear departure from traditional HCI methods and leverage data-driven and deep learning methods to tackle HCI problems that were previously challenging or impossible to address. It starts with addressing classic HCI topics, including human behaviour modeling and input, and then dedicates a section to data and tools, two technical pillars of modern AI methods. These chapters exemplify how state-of-the-art deep learning methods infuse new directions and allow researchers to tackle long standing and newly emerging HCI problems alike. Artificial Intelligence for Human Computer Interaction: A Modern Approach concludes with a section on Specific Domains which covers a set of emerging HCI areas where modern AI methods start to show real impact, such as personalized medical, design, and UI automation.
Book Synopsis Adaptive Dynamic Programming with Applications in Optimal Control by : Derong Liu
Download or read book Adaptive Dynamic Programming with Applications in Optimal Control written by Derong Liu and published by Springer. This book was released on 2017-01-12 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the most recent developments in adaptive dynamic programming (ADP). The text begins with a thorough background review of ADP making sure that readers are sufficiently familiar with the fundamentals. In the core of the book, the authors address first discrete- and then continuous-time systems. Coverage of discrete-time systems starts with a more general form of value iteration to demonstrate its convergence, optimality, and stability with complete and thorough theoretical analysis. A more realistic form of value iteration is studied where value function approximations are assumed to have finite errors. Adaptive Dynamic Programming also details another avenue of the ADP approach: policy iteration. Both basic and generalized forms of policy-iteration-based ADP are studied with complete and thorough theoretical analysis in terms of convergence, optimality, stability, and error bounds. Among continuous-time systems, the control of affine and nonaffine nonlinear systems is studied using the ADP approach which is then extended to other branches of control theory including decentralized control, robust and guaranteed cost control, and game theory. In the last part of the book the real-world significance of ADP theory is presented, focusing on three application examples developed from the authors’ work: • renewable energy scheduling for smart power grids;• coal gasification processes; and• water–gas shift reactions. Researchers studying intelligent control methods and practitioners looking to apply them in the chemical-process and power-supply industries will find much to interest them in this thorough treatment of an advanced approach to control.
Book Synopsis Designing Robot Behavior in Human-Robot Interactions by : Changliu Liu
Download or read book Designing Robot Behavior in Human-Robot Interactions written by Changliu Liu and published by CRC Press. This book was released on 2019-09-12 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, we have set up a unified analytical framework for various human-robot systems, which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control, planning, decision and learning is proposed. In particular, the following topics are discussed in-depth: safety during human-robot interactions, efficiency in real-time robot motion planning, imitation of human behaviors from demonstration, dexterity of robots to adapt to different environments and tasks, cooperation among robots and humans with conflict resolution. These methods are applied in various scenarios, such as human-robot collaborative assembly, robot skill learning from human demonstration, interaction between autonomous and human-driven vehicles, etc. Key Features: Proposes a unified framework to model and analyze human-robot interactions under different modes of interactions. Systematically discusses the control, decision and learning algorithms to enable robots to interact safely with humans in a variety of applications. Presents numerous experimental studies with both industrial collaborative robot arms and autonomous vehicles.
Book Synopsis Robot Programming by Demonstration by : Sylvain Calinon
Download or read book Robot Programming by Demonstration written by Sylvain Calinon and published by EPFL Press. This book was released on 2009-08-24 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.
Book Synopsis Next Generation of Internet of Things by : Raghvendra Kumar
Download or read book Next Generation of Internet of Things written by Raghvendra Kumar and published by Springer Nature. This book was released on 2022-09-26 with total page 708 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes selected papers from the International Conference on Next Generation of Internet of Things (ICNGIoT 2022), organized by Department of Computer Science and Engineering, School of Engineering, GIET University, Gunupur, Odisha, India, during February 3–4, 2022. The book covers topics such as IoT network design and architecture, IoT network virtualization, IoT sensors, privacy and security for IoT, SMART environment, social networks, data science and data analytics, cognitive intelligence and augmented intelligence, and case studies and applications.
Book Synopsis Human-robot Interaction by : Michael A. Goodrich
Download or read book Human-robot Interaction written by Michael A. Goodrich and published by Now Publishers Inc. This book was released on 2007 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.
Book Synopsis Springer Handbook of Robotics by : Bruno Siciliano
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
