Design And Implementation Of Human Robot Interaction System Using Gated Self Attention Model And Dual Arm Impedance Control
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Design And Implementation Of Human Robot Interaction System Using Gated Self Attention Model And Dual Arm Impedance Control
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Author :
language : en
Publisher:
Release Date : 2021
Design And Implementation Of Human Robot Interaction System Using Gated Self Attention Model And Dual Arm Impedance Control written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Human Robot Interaction
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Author : Dan Zhang
language : en
Publisher: Cambridge Scholars Publishing
Release Date : 2020-08-19
Human Robot Interaction written by Dan Zhang and has been published by Cambridge Scholars Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-08-19 with Business & Economics categories.
This book introduces state-of-the-art technologies in the field of human-robot interactions. It details advances made in this field in recent decades, including dynamics, controls, design analysis, uncertainties, and modelling. The text will appeal to graduate students, practitioners and researchers in the fields of robotics, computer and cognitive science, and mechanical engineering.
Human Robot Interaction Control Using Reinforcement Learning
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Author : Wen Yu
language : en
Publisher: John Wiley & Sons
Release Date : 2021-10-06
Human Robot Interaction Control Using Reinforcement Learning written by Wen Yu and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-06 with Technology & Engineering categories.
A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.
Design And Implementation Of Intuitive Human Robot Teleoperation Interfaces
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Author : Lei Wu
language : en
Publisher:
Release Date : 2020
Design And Implementation Of Intuitive Human Robot Teleoperation Interfaces written by Lei Wu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with Robotics categories.
We have designed and implemented a novel human-robot teleoperation interface based on an intuitive reference frame and hybrid inverse kinematics to perform activities of daily living(ADL) using multiple input devices. Persons with disabilities often rely on caregivers or family members to assist in their daily living activities. Providing robotic assistants with easy and intuitive user interfaces to assist with ADL can improve their quality of life and lift some of the burdens on caregivers and family members. Current human-robot interface solutions, such as joysticks, Kinect based gesture recognition, and touchscreen-based solutions, including smartphones, are still far from being able to operate in an intuitive way when used for complex activities of daily living. In this dissertation, we review the current popular human-robot interfaces and discuss their advantages and disadvantages. When developing our new interface system, we try to maximize as many advantages as possible while minimizing the disadvantages. In this era of smartphones that are packed with sensors, such as accelerometers, gyroscopes, and a precise touch screen, teleoperation control can be interfaced with smartphones to capture the user's intended operation of the robot assistant. We developed three novel human-robot smartphone-based interfaces to operate a robotic arm for assisting persons with disabilities in their ADL tasks. Useful smartphone data, including 3-dimensional orientation and 2-dimensional touchscreen positions, are used as control variables to the robot motion in Cartesian teleoperation. The developed interfaces provide intuitiveness, low cost, and environmental adaptability. Not only the interface devices affect the intuitiveness of the robotic arm teleoperation, but also the inverse kinematics algorithm of the robotic arm is crucial to the whole system intuitiveness as well. The two commonly used reference frames are the Ground and the End-effector reference frames, which do not always provide intuitive control from the perspective of human operators. We conducted preliminary testing in Ground and End-effector reference frames separately to maneuver objects in 3D space. Based on their feedback, we found how users wanted the robot to move and developed a new Intuitive Reference Frame with a novel hybrid inverse kinematics solution(the Hybrid system). This system provides a more natural and easier to use human-robot interface. Two conventional control reference frames(the Ground and the End-effector) are compared with our novel Intuitive control reference frame. An activity of daily living(ADL) task was used to test the performances of the three control reference frames. A 6-D spacemouse, Xbox controller, Omni and a smartphone were used as input devices for the human-robot interfaces to control a Baxter robotic arm and perform the same ADL task using the three different control reference frames. We tested the three control reference frame systems with human subjects and collected qualitative and quantitative data. The results show that overall our Intuitive robotic arm control reference frame with the hybrid inverse kinematics greatly reduced the time and effort needed to manipulate the robotic arm. The results also show that our Hybrid system improved the performances and intuitiveness for all tested input devices.
Mixed Reality And Human Robot Interaction
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Author : Xiangyu Wang
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-02-24
Mixed Reality And Human Robot Interaction written by Xiangyu Wang 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 2011-02-24 with Technology & Engineering categories.
MR technologies play an increasing role in different aspects of human-robot interactions. The visual combination of digital contents with real working spaces creates a simulated environment that is set out to enhance these aspects. This book presents and discusses fundamental scientific issues, technical implementations, lab testing, and industrial applications and case studies of Mixed Reality in Human-Robot Interaction. It is a reference book that not only acts as meta-book in the field that defines and frames Mixed Reality use in Human-Robot Interaction, but also addresses up-coming trends and emerging directions of the field. This volume offers a comprehensive reference volume to the state-of-the-art in the area of MR in Human-Robot Interaction, an excellent mix of contributions from leading researcher/experts in multiple disciplines from academia and industry. All authors are experts and/or top researchers in their respective areas and each of the chapters has been rigorously reviewed for intellectual contents by the editorial team to ensure a high quality. This book provides up-to-date insight into the current research topics in this field as well as the latest technological advancements and the best working examples.
Designing Robot Behavior In Human Robot Interactions
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Author : Changliu Liu
language : en
Publisher: CRC Press
Release Date : 2019-09-12
Designing Robot Behavior In Human Robot Interactions written by Changliu Liu and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-12 with Computers categories.
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.
Emotional Design In Human Robot Interaction
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Author : Hande Ayanoğlu
language : en
Publisher: Springer Nature
Release Date : 2019-09-09
Emotional Design In Human Robot Interaction written by Hande Ayanoğlu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-09 with Computers categories.
While social robots participation increases in everyday human life, their presence in diverse contexts and situations is expected. At the same point, users tend to become more demanding regarding their roles, abilities, behaviour and appearance. Thus, designers and developers are confronted with the need to design more sophisticated robots that can produce such a positive reaction from users so as to become well accepted in various cases of use. Like this, Human-Robot Interaction has become a developing area. Emotions are an important part in human life, since they mediate the interaction with other humans, entities and/or products. In recent years, there has been an increase in the importance of emotions applied to the design field, giving rise to the so-called Emotional Design area. In the case of Human-Robot Interaction, the emotional design can help to elicit (e.g., pleasurable) or prevent (e.g., unpleasant) emotional/affective reactions/responses. This book gives a practical introduction to emotional design in human-robot interaction and supports designers with knowledge and research tools to help them take design decisions based on a User-Centred Design approach. It should also be useful to people interested in design processes, even if not directly related to the design of social robots but, instead, to other technology-based artefacts. The text is meant as a reference source with practical guidelines and advice for design issues.
Human Robot Interaction
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Author : Gholamreza Anbarjafari
language : en
Publisher: BoD – Books on Demand
Release Date : 2018-07-04
Human Robot Interaction written by Gholamreza Anbarjafari 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 2018-07-04 with Computers categories.
This book takes the vocal and visual modalities and human-robot interaction applications into account by considering three main aspects, namely, social and affective robotics, robot navigation, and risk event recognition. This book can be a very good starting point for the scientists who are about to start their research work in the field of human-robot interaction.
Transferring Human Impedance Regulation Skills To Robots
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Author : Arash Ajoudani
language : en
Publisher: Springer
Release Date : 2015-11-05
Transferring Human Impedance Regulation Skills To Robots written by Arash Ajoudani and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-05 with Technology & Engineering categories.
This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
Human Robot Body Experience
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Author : Philipp Beckerle
language : en
Publisher: Springer Nature
Release Date : 2021-06-01
Human Robot Body Experience written by Philipp Beckerle and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-01 with Computers categories.
This monograph presents innovative research regarding the body experience of human individuals who are using assistive robotic devices such as wearable robots or teleoperation systems. The focus is set on human-in-the-loop experiments that help to empirically evaluate how users experience devices. Moreover, these experiments allow for further examination of the underlying mechanisms of body experience through extending existing psychological paradigms, e.g., by disentangling tactile feedback from contacts. Besides reporting and discussing psychological examinations, the influence of various aspects of engineering design is investigated, e.g., different implementations of haptic interfaces or robot control. As haptics are of paramount importance in this tight type of human-robot interaction, it is explored with respect to modality as well as temporal and spatial effects. The first part of the book motivates the research topic and gives an in-depth analysis of the experimental requirements. The second and third part present experimental designs and studies of human-robot body experience regarding the upper and lower limbs as well as cognitive models to predict them. The fourth part discusses a multitude of design considerations and provides directions to guide future research on bidirectional human-machine interfaces and non-functional haptic feedback.