Mapping Human Sensory Motor Skills For Manipulation Onto The Design And Control Of Robots

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Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots

Author : Matteo Bianchi
Publisher : Frontiers Media SA
ISBN 13 : 2889457958
Total Pages : 134 pages
Book Rating : 4.8/5 (894 download)

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Book Synopsis Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots by : Matteo Bianchi

Download or read book Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots written by Matteo Bianchi and published by Frontiers Media SA. This book was released on 2019-03-25 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humans are endowed with extraordinary sensory-motor capabilities that enable a successful interaction with and exploration of the environment, as is the case of human manipulation. Understanding and modeling these capabilities represents an important topic not only for neuroscience but also for robotics in a mutual inspiration, both to inform the design and control of artificial systems and, at the same time, to increase knowledge on the biological side. Within this context, synergies -- i.e., goal-directed actions that constrain multi DOFs of the human body and can be defined at the kinematic, muscular, neural level -- have gained increasing attention as a general simplified approach to shape the development of simple and effective artificial devices. The execution of such purposeful sensory-motor primitives on the biological side leverages on the interplay of the sensory-motor control at central and peripheral level, and the interaction of the human body with the external world. This interaction is particularly important considering the new concept of robotic soft manipulation, i.e. soft, adaptable yet robust robotic hands that can deform with the external environment to multiply their grasping and manipulation capabilities. Under this regard, a preeminent role is reserved to touch, being that skin isour primary organ to shape our knowledge of the external world and, hence, to modify it, in interaction with the efferent parts. This Research Topic reports results on the mutual inspiration between neuroscience and robotics, and on how it is possible to translate neuroscientific findings on human manipulation into engineering guidelines for simplified systems able to take full advantage from the interaction and hence exploitation of environmental constraints for task accomplishment and knowledge acquisition.

Human and Robot Hands

Author : Matteo Bianchi
Publisher : Springer
ISBN 13 : 331926706X
Total Pages : 283 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Human and Robot Hands by : Matteo Bianchi

Download or read book Human and Robot Hands written by Matteo Bianchi and published by Springer. This book was released on 2016-02-24 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices

Author : Giuseppe Averta
Publisher : Springer Nature
ISBN 13 : 3030925218
Total Pages : 284 pages
Book Rating : 4.0/5 (39 download)

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Book Synopsis Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices by : Giuseppe Averta

Download or read book Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices written by Giuseppe Averta and published by Springer Nature. This book was released on 2022-01-25 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.

Advanced Bimanual Manipulation

Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 364229040X
Total Pages : 284 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis Advanced Bimanual Manipulation by : Bruno Siciliano

Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-04-12 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.

Human Inspired Dexterity in Robotic Manipulation

Author : Tetsuyou Watanabe
Publisher : Academic Press
ISBN 13 : 0128133961
Total Pages : 218 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Human Inspired Dexterity in Robotic Manipulation by : Tetsuyou Watanabe

Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs

Author : Irfan Hussain
Publisher : Springer Nature
ISBN 13 : 3030520021
Total Pages : 155 pages
Book Rating : 4.0/5 (35 download)

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Book Synopsis Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs by : Irfan Hussain

Download or read book Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs written by Irfan Hussain and published by Springer Nature. This book was released on 2020-07-17 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.

Developmental Robotics

Author : Angelo Cangelosi
Publisher : MIT Press
ISBN 13 : 0262028018
Total Pages : 427 pages
Book Rating : 4.2/5 (62 download)

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Book Synopsis Developmental Robotics by : Angelo Cangelosi

Download or read book Developmental Robotics written by Angelo Cangelosi and published by MIT Press. This book was released on 2015-01-09 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive overview of an interdisciplinary approach to robotics that takes direct inspiration from the developmental and learning phenomena observed in children's cognitive development. Developmental robotics is a collaborative and interdisciplinary approach to robotics that is directly inspired by the developmental principles and mechanisms observed in children's cognitive development. It builds on the idea that the robot, using a set of intrinsic developmental principles regulating the real-time interaction of its body, brain, and environment, can autonomously acquire an increasingly complex set of sensorimotor and mental capabilities. This volume, drawing on insights from psychology, computer science, linguistics, neuroscience, and robotics, offers the first comprehensive overview of a rapidly growing field. After providing some essential background information on robotics and developmental psychology, the book looks in detail at how developmental robotics models and experiments have attempted to realize a range of behavioral and cognitive capabilities. The examples in these chapters were chosen because of their direct correspondence with specific issues in child psychology research; each chapter begins with a concise and accessible overview of relevant empirical and theoretical findings in developmental psychology. The chapters cover intrinsic motivation and curiosity; motor development, examining both manipulation and locomotion; perceptual development, including face recognition and perception of space; social learning, emphasizing such phenomena as joint attention and cooperation; language, from phonetic babbling to syntactic processing; and abstract knowledge, including models of number learning and reasoning strategies. Boxed text offers technical and methodological details for both psychology and robotics experiments.

Human Robotics

Author : Etienne Burdet
Publisher : MIT Press
ISBN 13 : 0262536412
Total Pages : 291 pages
Book Rating : 4.2/5 (625 download)

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Book Synopsis Human Robotics by : Etienne Burdet

Download or read book Human Robotics written by Etienne Burdet and published by MIT Press. This book was released on 2018-05-04 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system. This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one. The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living. The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.

Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Author : Qiang Li
Publisher : Academic Press
ISBN 13 : 0323904173
Total Pages : 374 pages
Book Rating : 4.3/5 (239 download)

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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

Robot Learning Human Skills and Intelligent Control Design

Author : Chenguang Yang
Publisher : CRC Press
ISBN 13 : 1000395170
Total Pages : 184 pages
Book Rating : 4.0/5 (3 download)

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Book Synopsis Robot Learning Human Skills and Intelligent Control Design by : Chenguang Yang

Download or read book Robot Learning Human Skills and Intelligent Control Design written by Chenguang Yang and published by CRC Press. This book was released on 2021-06-21 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task. This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user’s arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of the readers.

Scientific and Technical Aerospace Reports

Author :
Publisher :
ISBN 13 :
Total Pages : 704 pages
Book Rating : 4.:/5 (31 download)

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Book Synopsis Scientific and Technical Aerospace Reports by :

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Human Hand as an Inspiration for Robot Hand Development

Author : Ravi Balasubramanian
Publisher : Springer
ISBN 13 : 3319030175
Total Pages : 573 pages
Book Rating : 4.3/5 (19 download)

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Book Synopsis The Human Hand as an Inspiration for Robot Hand Development by : Ravi Balasubramanian

Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Modelling Human Motion

Author : Nicoletta Noceti
Publisher : Springer Nature
ISBN 13 : 3030467325
Total Pages : 351 pages
Book Rating : 4.0/5 (34 download)

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Book Synopsis Modelling Human Motion by : Nicoletta Noceti

Download or read book Modelling Human Motion written by Nicoletta Noceti and published by Springer Nature. This book was released on 2020-07-09 with total page 351 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new frontiers of robotics research foresee future scenarios where artificial agents will leave the laboratory to progressively take part in the activities of our daily life. This will require robots to have very sophisticated perceptual and action skills in many intelligence-demanding applications, with particular reference to the ability to seamlessly interact with humans. It will be crucial for the next generation of robots to understand their human partners and at the same time to be intuitively understood by them. In this context, a deep understanding of human motion is essential for robotics applications, where the ability to detect, represent and recognize human dynamics and the capability for generating appropriate movements in response sets the scene for higher-level tasks. This book provides a comprehensive overview of this challenging research field, closing the loop between perception and action, and between human-studies and robotics. The book is organized in three main parts. The first part focuses on human motion perception, with contributions analyzing the neural substrates of human action understanding, how perception is influenced by motor control, and how it develops over time and is exploited in social contexts. The second part considers motion perception from the computational perspective, providing perspectives on cutting-edge solutions available from the Computer Vision and Machine Learning research fields, addressing higher-level perceptual tasks. Finally, the third part takes into account the implications for robotics, with chapters on how motor control is achieved in the latest generation of artificial agents and how such technologies have been exploited to favor human-robot interaction. This book considers the complete human-robot cycle, from an examination of how humans perceive motion and act in the world, to models for motion perception and control in artificial agents. In this respect, the book will provide insights into the perception and action loop in humans and machines, joining together aspects that are often addressed in independent investigations. As a consequence, this book positions itself in a field at the intersection of such different disciplines as Robotics, Neuroscience, Cognitive Science, Psychology, Computer Vision, and Machine Learning. By bridging these different research domains, the book offers a common reference point for researchers interested in human motion for different applications and from different standpoints, spanning Neuroscience, Human Motor Control, Robotics, Human-Robot Interaction, Computer Vision and Machine Learning. Chapter 'The Importance of the Affective Component of Movement in Action Understanding' of this book is available open access under a CC BY 4.0 license at link.springer.com.

Neuroergonomics in Human-Robot Interaction

Author : Giacinto Barresi
Publisher : Frontiers Media SA
ISBN 13 : 2832502547
Total Pages : 93 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Neuroergonomics in Human-Robot Interaction by : Giacinto Barresi

Download or read book Neuroergonomics in Human-Robot Interaction written by Giacinto Barresi and published by Frontiers Media SA. This book was released on 2022-10-17 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Cross-Modal Learning: Adaptivity, Prediction and Interaction

Author : Jianwei Zhang
Publisher : Frontiers Media SA
ISBN 13 : 2889762548
Total Pages : 295 pages
Book Rating : 4.8/5 (897 download)

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Book Synopsis Cross-Modal Learning: Adaptivity, Prediction and Interaction by : Jianwei Zhang

Download or read book Cross-Modal Learning: Adaptivity, Prediction and Interaction written by Jianwei Zhang and published by Frontiers Media SA. This book was released on 2023-02-02 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this Research Topic is to reflect and discuss links between neuroscience, psychology, computer science and robotics with regards to the topic of cross-modal learning which has, in recent years, emerged as a new area of interdisciplinary research. The term cross-modal learning refers to the synergistic synthesis of information from multiple sensory modalities such that the learning that occurs within any individual sensory modality can be enhanced with information from one or more other modalities. Cross-modal learning is a crucial component of adaptive behavior in a continuously changing world, and examples are ubiquitous, such as: learning to grasp and manipulate objects; learning to walk; learning to read and write; learning to understand language and its referents; etc. In all these examples, visual, auditory, somatosensory or other modalities have to be integrated, and learning must be cross-modal. In fact, the broad range of acquired human skills are cross-modal, and many of the most advanced human capabilities, such as those involved in social cognition, require learning from the richest combinations of cross-modal information. In contrast, even the very best systems in Artificial Intelligence (AI) and robotics have taken only tiny steps in this direction. Building a system that composes a global perspective from multiple distinct sources, types of data, and sensory modalities is a grand challenge of AI, yet it is specific enough that it can be studied quite rigorously and in such detail that the prospect for deep insights into these mechanisms is quite plausible in the near term. Cross-modal learning is a broad, interdisciplinary topic that has not yet coalesced into a single, unified field. Instead, there are many separate fields, each tackling the concerns of cross-modal learning from its own perspective, with currently little overlap. We anticipate an accelerating trend towards integration of these areas and we intend to contribute to that integration. By focusing on cross-modal learning, the proposed Research Topic can bring together recent progress in artificial intelligence, robotics, psychology and neuroscience.

Human-in-the-loop System Design and Control Adaptation for Behavior-Assistant Robots

Author : Yuquan Leng
Publisher : Frontiers Media SA
ISBN 13 : 2832549853
Total Pages : 134 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Human-in-the-loop System Design and Control Adaptation for Behavior-Assistant Robots by : Yuquan Leng

Download or read book Human-in-the-loop System Design and Control Adaptation for Behavior-Assistant Robots written by Yuquan Leng and published by Frontiers Media SA. This book was released on 2024-06-03 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.

Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation

Author : Burak Yüksel
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832544925
Total Pages : 219 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation by : Burak Yüksel

Download or read book Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation written by Burak Yüksel and published by Logos Verlag Berlin GmbH. This book was released on 2017-06-10 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.