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Learning To Make Decisions In Robotic Manipulation
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Book Synopsis Learning for Adaptive and Reactive Robot Control by : Aude Billard
Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Book Synopsis A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Book Synopsis Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li
Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Book Synopsis Deep Learning for Robot Perception and Cognition by : Alexandros Iosifidis
Download or read book Deep Learning for Robot Perception and Cognition written by Alexandros Iosifidis and published by Academic Press. This book was released on 2022-02-04 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt: Deep Learning for Robot Perception and Cognition introduces a broad range of topics and methods in deep learning for robot perception and cognition together with end-to-end methodologies. The book provides the conceptual and mathematical background needed for approaching a large number of robot perception and cognition tasks from an end-to-end learning point-of-view. The book is suitable for students, university and industry researchers and practitioners in Robotic Vision, Intelligent Control, Mechatronics, Deep Learning, Robotic Perception and Cognition tasks. - Presents deep learning principles and methodologies - Explains the principles of applying end-to-end learning in robotics applications - Presents how to design and train deep learning models - Shows how to apply deep learning in robot vision tasks such as object recognition, image classification, video analysis, and more - Uses robotic simulation environments for training deep learning models - Applies deep learning methods for different tasks ranging from planning and navigation to biosignal analysis
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 Mastering AI (Artificial Intelligence) by : Kris Hermans
Download or read book Mastering AI (Artificial Intelligence) written by Kris Hermans and published by Cybellium Ltd. This book was released on with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: In a world where artificial intelligence is rapidly reshaping every aspect of our lives, "Mastering AI" serves as your definitive guide to understanding and harnessing this transformative technology. This comprehensive manual cuts through the hype, demystifying AI's complexities, and making it accessible to readers across the spectrum of expertise. Author Kris Hermans, a recognized authority in AI for Cybersecurity, expertly navigates the vast landscape of artificial intelligence, blending theoretical foundations with practical applications. Whether you're a beginner eager to grasp the basics or a seasoned professional looking to refine your skills, "Mastering AI" is your roadmap to successfully navigating the fascinating world of AI.
Book Synopsis Fundamentals of Mechanics of Robotic Manipulation by : Marco Ceccarelli
Download or read book Fundamentals of Mechanics of Robotic Manipulation written by Marco Ceccarelli and published by Springer Nature. This book was released on 2022-03-30 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Book Synopsis Mechanics of Robotic Manipulation by : Matthew T. Mason
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
Book Synopsis Advanced Bimanual Manipulation by : Bruno Siciliano
Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer. This book was released on 2012-04-10 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Book Synopsis Robot Force Control by : Bruno Siciliano
Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
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 Inductive Logic Programming by : Elena Bellodi
Download or read book Inductive Logic Programming written by Elena Bellodi and published by Springer Nature. This book was released on 2023-12-21 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 32nd International Conference on Inductive Logic Programming, ILP 2023, held in Bari, Italy, during November 13–15, 2023. The 11 full papers and 1 short paper included in this book were carefully reviewed and selected from 18 submissions. They cover all aspects of learning in logic, multi-relational data mining, statistical relational learning, graph and tree mining, learning in other (non-propositional) logic-based knowledge representation frameworks, exploring intersections to statistical learning and other probabilistic approaches.
Book Synopsis Management and Intelligent Decision-Making in Complex Systems: An Optimization-Driven Approach by : Ameer Hamza Khan
Download or read book Management and Intelligent Decision-Making in Complex Systems: An Optimization-Driven Approach written by Ameer Hamza Khan and published by Springer Nature. This book was released on 2020-10-29 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the authors focus on three aspects related to the development of articulated agents: presenting an overview of high-level control algorithms for intelligent decision-making of articulated agents, experimental study of the properties of soft agents as the end-effector of articulated agents, and accurate management of low-level torque-control loop to accurately control the articulated agents. This book summarizes recent advances related to articulated agents. The motive behind the book is to trigger theoretical and practical research studies related to articulated agents.
Book Synopsis Recent Research in Control Engineering and Decision Making by : Olga Dolinina
Download or read book Recent Research in Control Engineering and Decision Making written by Olga Dolinina and published by Springer Nature. This book was released on 2020-12-01 with total page 669 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the full research papers and short monographs developed on the base of the refereed proceedings of the International Conference: Information and Communication Technologies for Research and Industry (ICIT 2020). The book brings accepted research papers which present mathematical modelling, innovative approaches and methods of solving problems in the sphere of control engineering and decision making for the various fields of studies: industry and research, energy efficiency and sustainability, ontology-based data simulation, theory and use of digital signal processing, cognitive systems, robotics, cybernetics, automation control theory, image and sound processing, image recognition, technologies, and computer vision. The book contains also several analytical reviews on using smart city technologies in Russia. The central audience of the book are researchers, industrial practitioners and students from the following areas: Adaptive Systems, Human–Robot Interaction, Artificial Intelligence, Smart City and Internet of Things, Information Systems, Mathematical Modelling, and the Information Sciences.
Book Synopsis The Algorithmic Odyssey - A Comprehensive Guide to AI Research by : Dr. Prakash Arumugam
Download or read book The Algorithmic Odyssey - A Comprehensive Guide to AI Research written by Dr. Prakash Arumugam and published by Inkbound Publishers. This book was released on 2021-02-10 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: Embark on an extraordinary journey through the cutting-edge world of artificial intelligence with The Algorithmic Odyssey. This comprehensive guide serves as both a map and a compass for navigating the complex and rapidly evolving landscape of AI research. From the foundational principles of machine learning to the latest advancements in neural networks, this book offers a detailed exploration of the algorithms that are reshaping our world. Whether you are a seasoned researcher, a curious student, or a tech enthusiast, The Algorithmic Odyssey provides invaluable insights into the methodologies, challenges, and breakthroughs that define contemporary AI research. Discover the intricacies of supervised and unsupervised learning, delve into the depths of deep learning, and understand the transformative impact of reinforcement learning. Each chapter is meticulously crafted to offer clear explanations, practical examples, and thought-provoking discussions, making complex concepts accessible without sacrificing depth. Beyond the technicalities, The Algorithmic Odyssey also addresses the ethical, societal, and philosophical implications of AI. What does it mean to create intelligent systems? How do we ensure that these technologies benefit humanity? These questions and more are explored with rigor and sensitivity, encouraging readers to think critically about the future of AI. With contributions from leading experts in the field and a wealth of resources for further study, The Algorithmic Odyssey is an essential addition to the library of anyone passionate about the future of technology and its impact on our world. Join us on this odyssey and unlock the mysteries of artificial intelligence.
Book Synopsis Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection by : Xuefeng Zhou
Download or read book Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection written by Xuefeng Zhou and published by Springer Nature. This book was released on 2020-01-01 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book focuses on robot introspection, which has a direct impact on physical human-robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.
