Cognitive Reasoning For Compliant Robot Manipulation
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Cognitive Reasoning For Compliant Robot Manipulation
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Author : Daniel Sebastian Leidner
language : en
Publisher: Springer
Release Date : 2018-12-08
Cognitive Reasoning For Compliant Robot Manipulation written by Daniel Sebastian Leidner and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-12-08 with Technology & Engineering categories.
In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment
Informatics In Control Automation And Robotics
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Author : Oleg Gusikhin
language : en
Publisher: Springer Nature
Release Date : 2022-01-01
Informatics In Control Automation And Robotics written by Oleg Gusikhin and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-01-01 with Technology & Engineering categories.
The book focuses the latest endeavours relating researches and developments conducted in fields of Control, Robotics and Automation. Through more than ten revised and extended articles, the present book aims to provide the most up-to-date state-of-art of the aforementioned fields allowing researcher, PhD students and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book. The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same volume a factual and well-balanced prospect of nowadays research in those topics. A special attention toward “Intelligent Robots and Control” may characterize another benefit of this book.
A Cognitive Theory Of Robot Path Planning
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Author : Kheng Hee Kang
language : en
Publisher:
Release Date : 1988
A Cognitive Theory Of Robot Path Planning written by Kheng Hee Kang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Artificial intelligence categories.
Cognitive Robotics Control
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Author : Cecilio Angulo
language : en
Publisher: MDPI
Release Date : 2020-06-16
Cognitive Robotics Control written by Cecilio Angulo and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-16 with Technology & Engineering categories.
Robotics and control are both research and application domains that have been frequently engineered through the use of interdisciplinary approaches like cybernetics. Cognition is a particular concept of this approach, abstracted from the context of living organisms to that of artificial devices, and is concerned with knowledge acquisition and understanding through thought, experience, and the senses. Cognitive robotics and control refer to knowledge processing as much as knowledge generation from problem understanding, leading to special forms of architectures that enable systems to behave in an autonomous way. The main aim of this book is to highlight emerging applications and address recent breakthroughs in the domain of cognitive robotics and control and related areas. Procedures, algorithms, architectures, and implementations for reasoning, problem solving, or decision making are considered in the domain of robotics and control.
Towards Understanding Human Strategies For Encoding Robot Manipulation Skills
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Author : Ellen Klingbeil
language : en
Publisher:
Release Date : 2018
Towards Understanding Human Strategies For Encoding Robot Manipulation Skills written by Ellen Klingbeil and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
Enabling robots to perform tasks in unstructured, human environments has been a long standing vision of roboticists for decades. Some mobile platforms are already operating in these environments, such as autonomous robot vacuums and telepresence robots. In industrial settings, robots perform many manipulation tasks such as welding and handling and transporting objects, however, in these settings, the environment is very structured and the position and orientation of obstacles and work pieces are known with high accuracy. In unstructured human environments, few practical applications of robots performing manipulation tasks exist yet, especially for constrained motion, assembly-type tasks that require forming contact relationships to perform the task. Due to uncertainty in object poses and geometry in unstructured environments, it is essential that the robot complies with object constraints to perform the task and ensure safe operation. This thesis presents work towards developing compliant, human-inspired manipulation skills in task space for robots operating in unstructured environments that are able to accommodate uncertainty and adapt to environmental perturbations. To develop a framework for programming compliant manipulation primitives, we study how humans use contact relationships and compliance while performing insertion-type tasks in a haptic simulation environment. The analysis from the haptic simulation experiments motivates subsequent studies in the physical environment of how humans use contact force information to perform a basic constrained task and combine several primitives for a more complex task. We use insights gleaned from the human experiments to develop robot contact primitives to perform basic tasks and networks of contact primitives to encode more complex skills. The robot skills are encoded at the task level, which inherently enables robot skills to be transferable between robot platforms. Additionally, we use the operational space whole body control architecture which enables handling task and whole body motion coordination while in contact under various constraints within a unified and general form. The contact primitives are developed for tasks where the robot has already firmly grasped an object and uses contact sensing, not relying on any visual information. This thesis also presents work on developing perception primitives using vision-based algorithms to grasp objects and identify visual features to parameterize motion primitives for manipulating simple constrained objects.
A Roadmap For Cognitive Development In Humanoid Robots
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Author : David Vernon
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-12-28
A Roadmap For Cognitive Development In Humanoid Robots written by David Vernon and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-12-28 with Technology & Engineering categories.
This book addresses the central role played by development in cognition. The focus is on applying our knowledge of development in natural cognitive systems, specifically human infants, to the problem of creating artificial cognitive systems in the guise of humanoid robots. The approach is founded on the three-fold premise that (a) cognition is the process by which an autonomous self-governing agent acts effectively in the world in which it is embedded, (b) the dual purpose of cognition is to increase the agent's repertoire of effective actions and its power to anticipate the need for future actions and their outcomes, and (c) development plays an essential role in the realization of these cognitive capabilities. Our goal in this book is to identify the key design principles for cognitive development. We do this by bringing together insights from four areas: enactive cognitive science, developmental psychology, neurophysiology, and computational modelling. This results in roadmap comprising a set of forty-three guidelines for the design of a cognitive architecture and its deployment in a humanoid robot. The book includes a case study based on the iCub, an open-systems humanoid robot which has been designed specifically as a common platform for research on embodied cognitive systems .
Cognitive Neuroscience Robotics A
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Author : Masashi Kasaki
language : en
Publisher: Springer
Release Date : 2016-06-06
Cognitive Neuroscience Robotics A written by Masashi Kasaki and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-06-06 with Technology & Engineering categories.
Cognitive Neuroscience Robotics is the first introductory book on this new interdisciplinary area. This book consists of two volumes, the first of which, Synthetic Approaches to Human Understanding, advances human understanding from a robotics or engineering point of view. The second, Analytic Approaches to Human Understanding, addresses related subjects in cognitive science and neuroscience. These two volumes are intended to complement each other in order to more comprehensively investigate human cognitive functions, to develop human-friendly information and robot technology (IRT) systems, and to understand what kind of beings we humans are. Volume A describes how human cognitive functions can be replicated in artificial systems such as robots, and investigates how artificial systems could acquire intelligent behaviors through interaction with others and their environment.
Understanding And Learning Robotic Manipulation Skills From Humans
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Author : Elena Galbally Herrero
language : en
Publisher:
Release Date : 2022
Understanding And Learning Robotic Manipulation Skills From Humans written by Elena Galbally Herrero and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with Machine learning categories.
Humans are constantly learning new skills and improving upon their existing abilities. In particular, when it comes to manipulating objects, humans are extremely effective at generalizing to new scenarios and using physical compliance to our advantage. Compliance is key to generating robust behaviors by reducing the need to rely on precise trajectories. Programming robots through predefined trajectories has been highly successful for performing tasks in structured environments, such as assembly lines. However, such an approach is not viable for real-time operations in real-world scenarios. Inspired by humans, we propose to program robots at a higher level of abstraction by using primitives that leverage contact information and compliant strategies. Compliance increases robustness to uncertainty in the environment and primitives provide us with atomic actions that can be reused to avoid coding new tasks from scratch. We have developed a framework that allows us to: (i) collect and segment human data from multiple contact-rich tasks through direct or haptic demonstrations, (ii) analyze this data and extract the human's compliant strategy, and (iii) encode the strategy into robot primitives using task-level controllers. During autonomous task execution, haptic interfaces enable human real-time intervention and additional data collection for recovery from failures. At the core of this framework is the notion of a compliant frame - an origin and three directions in space along and about which we control motion and compliance. The compliant frame is attached to the object being manipulated and together with the desired task parameters defines a primitive. Task parameters include desired forces, moments, positions, and orientations. This task specification provides a physically meaningful, low-dimensional, and robot-independent representation. This thesis presents a novel framework for learning manipulation skills from demonstration data. Leveraging compliant frames enables us to understand human actions and extract strategies that generalize across objects and robots. The framework was extensively validated through simulation and hardware experiments, including five real-world construction tasks.
Probability Combinatorics And Control
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Author : Andrey Kostogryzov
language : en
Publisher: BoD – Books on Demand
Release Date : 2020-04-15
Probability Combinatorics And Control written by Andrey Kostogryzov and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-04-15 with Mathematics categories.
Probabilistic and combinatorial techniques are often used for solving advanced problems. This book describes different probabilistic modeling methods and their applications in various areas, such as artificial intelligence, offshore platforms, social networks, and others. It aims to educate how modern probabilistic and combinatorial models may be created to formalize uncertainties; to train how new probabilistic models can be generated for the systems of complex structures; to describe the correct use of the presented models for rational control in systems creation and operation; and to demonstrate analytical possibilities and practical effects for solving different system problems on each life cycle stage.
Robotic Manipulation With Compliant Shape Sensors
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Author : Benjamin R. Peirce
language : en
Publisher:
Release Date : 2006
Robotic Manipulation With Compliant Shape Sensors written by Benjamin R. Peirce and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with Robotics categories.