Visual Perception For Manipulation And Imitation In Humanoid Robots
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Visual Perception For Manipulation And Imitation In Humanoid Robots
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Author : Pedram Azad
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-11-19
Visual Perception For Manipulation And Imitation In Humanoid Robots written by Pedram Azad 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 2009-11-19 with Technology & Engineering categories.
Dealing with visual perception in robots and its applications to manipulation and imitation, this monograph focuses on stereo-based methods and systems for object recognition and 6 DoF pose estimation as well as for marker-less human motion capture.
Visual Perception And Robotic Manipulation
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Author : Geoffrey Taylor
language : en
Publisher: Springer
Release Date : 2008-08-18
Visual Perception And Robotic Manipulation written by Geoffrey Taylor and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-08-18 with Technology & Engineering categories.
This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.
Visual Perception For Humanoid Robots
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Author : David Israel González Aguirre
language : en
Publisher: Springer
Release Date : 2018-09-01
Visual Perception For Humanoid Robots written by David Israel González Aguirre and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-01 with Technology & Engineering categories.
This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.
Approaches To Probabilistic Model Learning For Mobile Manipulation Robots
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Author : Jürgen Sturm
language : en
Publisher: Springer
Release Date : 2013-12-12
Approaches To Probabilistic Model Learning For Mobile Manipulation Robots written by Jürgen Sturm and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-12 with Technology & Engineering categories.
This book presents techniques that enable mobile manipulation robots to autonomously adapt to new situations. Covers kinematic modeling and learning; self-calibration; tactile sensing and object recognition; imitation learning and programming by demonstration.
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
Modelling Human Motion
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Author : Nicoletta Noceti
language : en
Publisher: Springer Nature
Release Date : 2020-07-09
Modelling Human Motion written by Nicoletta Noceti and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-09 with Computers categories.
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.
Fundamentals Of Robotics Linking Perception To Action
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Author : Xie Ming
language : en
Publisher: World Scientific Publishing Company
Release Date : 2003-04-11
Fundamentals Of Robotics Linking Perception To Action written by Xie Ming and has been published by World Scientific Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-04-11 with Technology & Engineering categories.
Tomorrow's robots, which includes the humanoid robot, can perform task like tutoring children, working as tour guides, driving humans to and from work, do the family shopping etc. Tomorrow's robots will enhance lives in ways we never dreamed possible. No time to attend the decisive meeting on Asian strategy? Let your robot go for you and make the decisions. Not feeling well enough to go to the clinic? Let Dr Robot come to you, make a diagnosis, and get you the necessary medicine for treatment. No time to coach the soccer team this week? Let the robot do it for you.Tomorrow's robots will be the most exciting and revolutionary things to happen to the world since the invention of the automobile. It will change the way we work, play, think, and live. Because of this, nowadays robotics is one of the most dynamic fields of scientific research. These days, robotics is offered in almost every university in the world. Most mechanical engineering departments offer a similar course at both the undergraduate and graduate levels. And increasingly, many computer and electrical engineering departments are also offering it.This book will guide you, the curious beginner, from yesterday to tomorrow. The book will cover practical knowledge in understanding, developing, and using robots as versatile equipment to automate a variety of industrial processes or tasks. But, the book will also discuss the possibilities we can look forward to when we are capable of creating a vision-guided, learning machine.
Active Vision And Perception In Human Robot Collaboration
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Author : Dimitri Ognibene
language : en
Publisher: Frontiers Media SA
Release Date : 2022-03-07
Active Vision And Perception In Human Robot Collaboration written by Dimitri Ognibene and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-03-07 with Science categories.
Humanoid Robotics And Neuroscience
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Author : Gordon Cheng
language : en
Publisher: CRC Press
Release Date : 2014-12-19
Humanoid Robotics And Neuroscience written by Gordon Cheng and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-12-19 with Medical categories.
Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering—one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscience: Science, Engineering and Society presents the contributions of prominent scientists who explore key aspects of the further potential of these systems. Topics include: Neuroscientific research findings on dexterous robotic hand control Humanoid vision and how understanding the structure of the human eye can lead to improvements in artificial vision Humanoid locomotion, motor control, and the learning of motor skills Cognitive elements of humanoid robots, including the neuroscientific aspects of imitation and development The impact of robots on society and the potential for developing new systems and devices to benefit humans The use of humanoid robotics can help us develop a greater scientific understanding of humans, leading to the design of better engineered systems and machines for society. This book assembles the work of scientists on the cutting edge of robotic research who demonstrate the vast possibilities in this field of research.
Knowledge Representations For Planning Manipulation Tasks
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Author : Franziska Zacharias
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-01-12
Knowledge Representations For Planning Manipulation Tasks written by Franziska Zacharias 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 2012-01-12 with Technology & Engineering categories.
In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.