Human-Friendly Robotics 2020: 13th International Workshop

Foreword
Preface
Contents
Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots
	1 Introduction
	2 Related Works
	3 Research Methodology
		3.1 Modeling of 3D Vines and Robot Platform
		3.2 Estimation of Potential Pruning Points (PPP)
		3.3 Motion Planner
		3.4 Natural Admittance Controller and Dynamics of Vines
	4 Results and Discussion
	5 Conclusions
	References
Robotic Muscular Assistance-As-Needed for Physical and Training/Rehabilitation Tasks: Design and Experimental Validation of a Closed-Loop Myoelectric Control in Grounded and Wearable Applications
	1 Introduction
	2 Methods and Tools
		2.1 Description of the sEMG-Based Control
		2.2 Effort Compensation for Physical Tasks
		2.3 Effort Generation for Training/Rehabilitation Tasks
	3 Experiment
		3.1 Experimental Case #1: Grounded Assistive Application
		3.2 Experimental Case #2: Wearable Assistive Application
		3.3 Selection of the Threshold Values
		3.4 Conclusions
	References
The I-Walk Assistive Robot
	1 Introduction
	2 Related Work
	3 Design and Overall Architecture
	4 User Needs and Clinical Use-Cases
	5 User-Machine Interface
	6 Multimodal Signal Acquisition and Processing
		6.1 Visual Action and Gesture Recognition
		6.2 Speech Understanding
		6.3 Mobility Analysis
	7 Navigation and Control
		7.1 Path Planning and Following
		7.2 Localization
		7.3 User Following
		7.4 Audial Assistance
	8 Preliminary Experimental Results
	9 Conclusion and Future Work
	References
Toward a Cognitive Control Framework for Explainable Robotics
	1 Introduction
	2 System Design
		2.1 Long Term Memory
		2.2 Working Memory
		2.3 Behavior-Based System
		2.4 Shared Variables
		2.5 Attentional Regulations and Contention Scheduling
	3 Explainable Task Execution: An Industrial Scenario
		3.1 Self-explaining Structure
		3.2 Description of the Executing Tasks
		3.3 Running Examples of Human-Robot Communication
	4 Conclusions and Future Works
	References
Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies
	1 Introduction
	2 Dynamic Field Theory
	3 Model
		3.1 Exploration
		3.2 Exploitation
		3.3 Balancing Exploration and Exploitation
	4 Results
	5 Conclusion and Discussion
	6 Appendix
	References
A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells
	1 Introduction
	2 Problem Statement
	3 Task Assignment Layer
	4 Dynamic Scheduler
	5 Experiments
	6 Conclusion and Future Works
	References
Singularity Avoidance in Human-Robot Collaboration with Performance Constraints
	1 Introduction
	2 Performance Constraints for Singularity Avoidance
		2.1 Calculation of Performance Constraints
		2.2 Equivalent Stiffness and Damping Calculation for Critically Damped Behavior
		2.3 Elastic Potential Energy of Performance Constraints
	3 Experimental Evaluation
	4 Conclusions
	References
A Safety and Passivity Filter for Robot Teleoperation Systems
	1 Introduction
	2 Background
	3 Safety and Passivity Filter
		3.1 Ensuring Safety
		3.2 Ensuring Passivity
		3.3 Tracking of Desired Control Inputs
		3.4 Safety- and Passivity-Preserving Controller Design
	4 Simulation Results
	5 Conclusions and Future Work
	References
Modeling Human Motor Skills to Enhance Robots\' Physical Interaction
	1 Deriving a Basis of Human Movements
	2 Planning Robots\' Movements with fPCs
	3 Learning from Humans How to Grasp: Enhancing the Reaching Strategy
		3.1 Deep Classifier
		3.2 Robotic Grasping Primitives
	References
Careful with That! Observation of Human Movements to Estimate Objects Properties
	1 Introduction and Background
		1.1 Rationale
	2 Experimental Setup
		2.1 Sensors
	3 Data Pre-processing
		3.1 Dataset
	4 Classifiers
		4.1 Convolutional, Long-Short-Term-Memory and Deep Neural Network
		4.2 Long-Short-Term-Memory and Deep Neural Network
	5 Results
		5.1 Carefulness Level
		5.2 Weight
	6 Discussion
	7 Conclusions
	References
Author Index