Directory of Open Access Books (DOAB)
This chapter presents a discussion of modular robots from both an industrial and a research point of view. The chapter is divided into four sections, one focusing on existing reconfigurable modular manipulators typically in an industry setting (Sect. 22.2) and another focusing on self-reconfigurable modular robots typically in a research setting (Sect. 22.4). Both sections are sandwiched between the introduction and conclusion sections. This chapter is focused on design issues. Rather than a survey ...
Tópico(s): Micro and Nano Robotics
2016 - Springer International Publishing | Springer handbooks
I–Ming Chen, Ehsan Asadi, Jiancheng Nie, Rui-Jun Yan, Wei Chuan Law, Erdal Kayacan, Song Huat Yeo, Kin Huat Low, Gerald Seet, Robert L. K. Tiong,
Infrastructure service robotics is a discipline studying robotic systems and methodology for buildings and civil infrastructure construction, inspection, and maintenance. The target could be buildings, estates, parks, bridges, power plants, power transmission lines, underground tunnels, sewage pipes, port facilities, etc. In this article, several new infrastructure service robots projects for construction services and deep tunnel inspection carried out in Singapore will be introduced. With new actuators, ...
Tópico(s): Modular
2016 - Springer Vienna | Courses and lectures
I-Han Kuo, Chandimal Jayawardena, Elizabeth Broadbent, Rebecca Stafford, Bruce A. MacDonald,
This paper presents the evaluation of a healthcare service robot system with vital signs measurement and medication reminders. The design followed the methodology proposed in [7]. This study is a first step to evaluate the methodology by measuring the effectiveness of the interaction patterns designed. The results show that the interaction design patterns could be validated and improved. One can easily reuse these patterns for another service application. This indicates the usefulness of the methodology ...
Tópico(s): AI in Service Interactions
2012 - Springer Science+Business Media | Lecture notes in computer science
Aleksandr I. Panov, Konstantin Yakovlev,
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location. The latter is originally unreachable for some members of the coalition, but the common task still can be accomplished as the agents can assist each other (e.g. by modifying the environment). We call such tasks smart relocation tasks (as the can not be solved by pure ...
Tópico(s): Robotic Path Planning Algorithms
2016 - Springer Nature | Advances in intelligent systems and computing
Gianluca Antonelli, Thor I. Fossen, D. Yoerger,
This chapter deals with modeling and control of underwater robots. First, a brief introduction showing the constantly expanding role of marine robotics in oceanic engineering is given; this section also contains some historical backgrounds. Most of the following sections strongly overlap with the corresponding chapters presented in this handbook; hence, to avoid useless repetitions, only those aspects peculiar to the underwater environment are discussed, assuming that the reader is already familiar ...
Tópico(s): Distributed Control Multi-Agent Systems
2016 - Springer International Publishing | Springer handbooks
Gregory D. Hager, Henrik I. Christensen, Horst Bunke, Rolf Klein,
Tópico(s): Advanced Algorithms and Applications
2002 - Springer Science+Business Media | Lecture notes in computer science
A. Comanescu, Dinu Comănescu, I. Dugăeșescu, Liviu Marian Ungureanu,
The paper brings some theoretical and practical contributions for the optimal design of bi-mobile mechanical systems.The mechanisms with two degrees of mobility are used for mechanical systems such as robot-arms or legs of walking robots, which ensure for the extremity of their effectors any trajectory in a suitable domain.Two theoretical aspects are developed: a structural design method for bimobile planar mechanisms based on their inverse and direct structural modelling and the design of two new ...
Tópico(s): Prosthetics and Rehabilitation Robotics
2013 - | DAAAM international scientific book ...
RoboCup is an international initiative devoted to advancing the state of the art in artificial intelligence and robotics. The ultimate, long range goal is to build a team of robot soccer players that
Tópico(s): Modular
1998 - Springer Science+Business Media | Lecture notes in computer science
Henrik I. Christensen, Kevin W. Bowyer, Horst Bunke,
Tópico(s): Image and Object Detection Techniques
1993 - World Scientific | Series in machine perception and artificial intelligence
Cheng-Chih Wu, I-Chih Tseng, Shih-Lung Huang,
This study compared the effects of using physical robots (LEGO Mindstorms) and robot simulators (LEGO Mindstorms Simulator, LMS) in teaching novice programming concepts. A quasi-experiment design was implemented in this study. Four classes of high school students, totaling 151 students, participated in the study. Two classes of 76 students used the physical robots to learn programming, whereas the other two classes of 75 students used LMS. The students' post-experiment achievement tests, replies on ...
Tópico(s): Radiation Effects in Electronics
2008 - Springer Science+Business Media | Lecture notes in computer science
Meg Tonkin, Jonathan Vitale, Suman Ojha, Jesse N. Clark, Sammy Pfeiffer, William Q. Judge, Xun Wang, Mary‐Anne Williams,
As social robots move from the laboratory into public settings the possibility of unwanted intrusion into a user's personal privacy is magnified. The actual social interaction between human and robot may involve anthropomorphising of the robot by the user, and this may prompt the user to disclose private or sensitive information. To comprehend possible impacts we conducted an exploratory study with a novel privacy measure to understand changes to users' privacy considerations when interacting with ...
Tópico(s): User Authentication and Security Systems
2017 - Springer Science+Business Media | Lecture notes in computer science
Anis Koubâa, Hachémi Bennaceur, I. Chaâri, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti, Maram Alajlan, Omar Cheikhrouhou, Yasir Javed,
This book offers a comprehensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem
Tópico(s): Modular
2018 - Springer Nature | Studies in computational intelligence
Anis Koubâa, Hachémi Bennaceur, I. Chaâri, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti, Maram Alajlan, Omar Cheikhrouhou, Yasir Javed,
Robotic is now gaining a lot of space in our daily life and in several areas in modern industry automation and cyber-physical applications. This requires embedding intelligence into these robots for ensuring (near)-optimal solutions to task execution. Thus, a lot of research problems that pertain to robotic applications have arisen such as planning (path, motion, and mission), task allocation problems, navigation, tracking. In this chapter, we focused on the path planning research problem.
Tópico(s): Robotics and Sensor-Based Localization
2018 - Springer Nature | Studies in computational intelligence
Suman Ojha, Mary‐Anne Williams,
Emotions play a critical role in human-robot interaction. Human-robot interaction in social contexts will be more effective if robots can understand human emotions and express (display) emotions accordingly as a means to communicate their own internal state. In this paper we present a novel computational model of robot emotion generation based on appraisal theory and guided by ethical judgement. There have been recent advances in developing emotion for robots. However, despite the extensive research ...
Tópico(s): Social
2016 - Springer Science+Business Media | Lecture notes in computer science
This paper shows adaptive strategies to improve the reliability and performance of self-localization in robot soccer with legged robots. Adaptiveness is the common feature of the presented algorithms and has proved essential to enhance the quality of localization by a new classification technique, essential to increase the confidence level of internal information about the environment by extracting reliability information and by communicating them via parameterizable acoustic communication, and ...
Tópico(s): Robotic Locomotion and Control
2003 - Springer Science+Business Media | Lecture notes in computer science
James I. Arnold, Rob Alexander,
We present a novel approach for reducing manual effort when testing autonomous robot control algorithms. We use procedural content generation, as developed for the film and video game industries, to create a diverse range of test situations. We execute these in the Player/Stage robot simulator and automatically rate them for their safety significance using an event-based scoring system. Situations exhibiting dangerous behaviour will score highly, and are thus flagged for the attention of a safety ...
Tópico(s): Robotic Path Planning Algorithms
2013 - Springer Science+Business Media | Lecture notes in computer science
German I. Parisi, Stefan Wermter,
Falls represent a major problem in the public health care domain, especially among the elderly population. Therefore, there is a motivation to provide technological solutions for assisted living in home environments. We introduce a neurocognitive robot assistant that monitors a person in a household environment. In contrast to the use of a static-view sensor, a mobile humanoid robot will keep the moving person in view and track his/her position and body motion characteristics. A learning neural ...
Tópico(s): Human Pose and Action Recognition
2016 - Springer Nature | Studies in computational intelligence
Ferran Roure, Germán Sáez i Moreno, Marcel Soler, Davide Faconti, Daniel Serrano, Pietro Astolfi, Gianluca Bardaro, A. Gabrielli, Luca Bascetta, Matteo Matteucci,
Precision agriculture is a key topic in robotics. The incursion of robots in the agriculture domain has become a reality in recent years. Nowadays, robotics is not only used for crop monitoring like for instance the use of aerial robots for growth control. Robots are increasingly playing key role in the daily life of the farmers and producers. Heavy tasks like pruning, seeding or even precise harvesting are the target topics of the robotics in agriculture. In this paper we present the ongoing work ...
Tópico(s): Modular
2017 - Springer Nature | Advances in intelligent systems and computing
Henrik I. Christensen, Horst Bunke, Kevin W. Bowyer,
The Harvard binocular head, N.J. Ferrier and J.J. Clark heads, eyes, and head-eye systems, L. Pahlavan and J-O Eklundh design and performance of TRISH, a binocular robot head with torsional eye movements, E. Milios et al a low-cost robot camera head, H.I. Christensen the Surrey attantive robot vision system, J.R.G. Pretlove and G.A. Parker binocular camera head, J.L. Crowley et al SAVIC - a simulation, visualization and interactive control environment for mobile robots, C-X. Chen and M.M. Trivedi ...
Tópico(s): Optics and Image Analysis
1993 - World Scientific | Series in machine perception and artificial intelligence
Yuichi Asahiro, Satoshi Fujita, I. Suzuki, Masafumi Yamashita,
We propose a self-stabilizing marching algorithm for a group of oblivious robots in an obstacle-free workplace. To this end, we develop a distributed algorithm for a group of robots to transport a polygonal object, where each robot holds the object at a corner, and observe that each robot can simulate the algorithm, even after we replace the object by an imaginary one; we thus can use the algorithm as a marching algorithm. Each robot independently computes a velocity vector using the algorithm, ...
Tópico(s): Modular
2008 - Springer Science+Business Media | Lecture notes in computer science
Ana Huamán Quispe, Heni Ben Amor, Henrik I. Christensen,
This paper presents a taxonomy of benchmark manipulation tasks for service robots. Our contributions are threefold: (1) A review of relevant literature regarding manipulation tests in the robotics domain and related fields, such as physical therapy, assistive technologies and prosthetics. (2) Guidelines to design useful testing protocols to evaluate manipulation performance. (3) A proposed general taxonomy of benchmark manipulation tasks and sample tests per each class.
Tópico(s): Soft Robotics and Applications
2017 - Springer International Publishing | Springer proceedings in advanced robotics
New solutions in the field of modern robotic systems are accompanied by increased requirements for the quality of their work. Often, the individual quality criteria are mutually contradictory, which in turn requires the involvement of methods and technologies for solving problems in the framework of multi-criteria optimization (MCO) or multi-criteria decision-making tasks. The use of these methods allows you to get a whole set of solutions that allows you to both adjust the system of preferences, ...
Tópico(s): Advanced Data Processing Techniques
2020 - Springer International Publishing | Studies in systems, decision and control
А. В. Пестерев, Yury V. Morozov, I. V. Matrosov,
The point stabilization problem for a robot-wheel is considered. The problem consists in synthesizing control torque in the form of feedback that brings the wheel from an arbitrary initial position on a straight line to a given one, with the control torque and the maximum velocity of wheel motion being constrained. To meet the phase and control constraints, an advanced feedback law in the form of nested saturation functions is suggested. Two of the four coefficients employed in the saturation functions ...
Tópico(s): Vehicle Dynamics and Control Systems
2020 - Springer Science+Business Media | Communications in computer and information science
Andreea I. Niculescu, Betsy van Dijk, Anton Nijholt, Dilip Kumar Limbu, Swee Lan See, Alvin Wong,
In this paper we present the evaluation results of an exploratory study performed in an open environment with the robot receptionist Olivia. The main focus of the study was to analyze relationships between the robot's social skills and the perceived overall interaction quality, as well as to determine additional important interaction quality features with potential general validity. Our results show positive correlations between the investigated factors, as the ability to socialize with humans achieved ...
Tópico(s): Robotics and Automated Systems
2010 - Springer Science+Business Media | Lecture notes in computer science
John G. Rogers, Carlos Nieto-Granda, Henrik I. Christensen,
Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for this application; however, teleoperation is increasingly difficult as the number of robots is expanded. As the number of robots is increased, each robot may interfere with one another and eventually decrease mapping performance. Through careful consideration of robot team coordination and exploration strategy, large ...
Tópico(s): Robotics and Automated Systems
2013 - Springer Nature | Springer tracts in advanced robotics
Andrey E. Gorodetskiy, I. L. Tarasova,
Problem statement: robots and robotic systems based on SEMS are a kind of cyberphysical systems, a distinctive feature of which is parallelism in obtaining and processing information, in calculation and formation of control actions and in performance of various movements on commands from system of automatic control, which is built by analogy with the human Central Nervous System. Since each robot based on the SEMS has the appropriate behavior, group control of such robots becomes not effective centralized ...
Tópico(s): Diatoms and Algae Research
2018 - Springer International Publishing | Studies in systems, decision and control
Stefano Michieletto, Elisa Tosello, Fabrizio Romanelli, Valentina Ferrara, Emanuele Menegatti,
The following paper presents the ROS-I interface developed to control Comau manipulators. Initially, the Comau controller allowed users to command a real robot thanks to motion primitives formulated through a Comau motion planning library. Now, either a ROS or a non ROS -compliant platform can move either a real or a virtual Comau robot using any motion planning library. Comau modules have been wrapped within ROS and a virtual model of a Comau robot has been created. The manufacturer controller has ...
Tópico(s): Robotic Path Planning Algorithms
2014 - Springer Science+Business Media | Lecture notes in computer science
Andrey E. Gorodetskiy, I. L. Tarasova, Vugar G. Kurbanov,
Problem statement: solving the problems of situational control of mobile robots in the group play an important role for effective collaboration when working together. The article deals with the problem of joint movement of a group of mobile robots. Purpose: setting the problem of situational control in the group interaction of mobile robots and analysis of the principles of situational control of a group of robots. Results: a generalized mathematical description of the problem of situational control ...
Tópico(s): Advanced Manufacturing and Logistics Optimization
2019 - Springer International Publishing | Studies in systems, decision and control