Recent Progress in Robotics: Viable Robotic Service to Human: An Edition of the Selected Papers from the 13th International Conference on Advanced Robotics

Contents......Page 6
Summary of Novel Mechanisms......Page 10
Introduction......Page 12
Model of Piezoelectric Actuation System......Page 13
Radial Basis Function Neural Network......Page 15
Robust Neural Network Motion Tracking Control Methodology......Page 16
Stability Analysis......Page 18
Simulation Study......Page 21
Results and Discussion......Page 23
Conclusions......Page 25
Introduction......Page 27
Stable Formation Control......Page 28
Hybrid Formation Control......Page 34
Follower Robots: Heading Control......Page 35
Stability Analysis......Page 37
Experimental Results......Page 38
References......Page 39
Introduction......Page 41
STriDER: Self-excited Tripedal Dynamic Experimental Robot......Page 42
Kinematic Configuration of STriDER 2.0......Page 44
 Mechanical Design of STriDER and STriDER 2.0......Page 45
Gait Planning Constraints for a Single Step......Page 46
Dynamics......Page 47
Body Twisting Motion During a Step......Page 48
Static Stability Margin......Page 49
Foundations for a Single Step Gait Generation......Page 51
References......Page 53
Introduction......Page 55
Operation Principle of Safe Joint Mechanism......Page 57
Protorype Modeling......Page 60
Simulation of Prototype......Page 62
Safety Criterion......Page 63
Experimental Results......Page 64
Conclusion......Page 66
References......Page 67
Introduction......Page 68
Kinematic Nomenclature......Page 70
Characterization of the Pneumatic Actuator......Page 71
Task Space Representation of Kinematic Model......Page 73
Sensor-Based Motion Planning Algorithm for Autonomous Guidance......Page 74
Positioning of the Distal End of Colobot Inside the Colon......Page 75
Method Based on a Circumscribed Circle for Calculating the Safe Position......Page 76
Differential Kinematics......Page 77
Implementation......Page 78
Kinematic Control......Page 79
Experimental Results on an Emulation Platform......Page 80
Conclusions and Future Works......Page 81
References......Page 82
Introduction......Page 84
Structural Synthesis of T1R3-Type RaPMs Via Theory of Linear Transformations......Page 86
T1R3-Type RaPMs with Decoupled Motions......Page 89
T1R3-Type RaPMs with Uncoupled Motions......Page 90
Fully-Isotropic T1R3-Type RaPMs......Page 91
References......Page 93
Introduction......Page 96
Related Work......Page 99
System Overview......Page 100
Spatial Primitives......Page 101
Elementary Grasping Actions......Page 103
Computing Action Parameters......Page 104
Limiting the Number of Actions......Page 105
Experimental Evaluation......Page 106
Conclusions......Page 108
References......Page 109
Summary of Perception Guided Navigation and Manipulation......Page 111
Introduction......Page 114
Background Work......Page 117
Methodology......Page 118
Feature Association......Page 119
Achieving Robustness......Page 121
Calculating Probability of Association......Page 123
Local Localization......Page 125
Handling Duel Association......Page 127
Experimental Results and Analysis......Page 128
Conclusion......Page 131
References......Page 132
Introduction......Page 133
Mobile Service Robot Guidance and Navigation......Page 134
Recent Developments in the Area of AGVs......Page 135
Technical Approach......Page 136
RFID Makes the Floor Smart......Page 137
Self-localization on a Smart Floor......Page 138
Field Evaluation......Page 141
References......Page 143
Introduction......Page 145
Pursuit......Page 146
Separation Cannot Be Maintained Using Only One Target......Page 147
Interpretation as Linear Pursuit Curves......Page 149
Each Quadrant Is an Invariant Set......Page 152
Separation Can Be Maintained between Any Number of Agents Using Two Targets......Page 153
Conclusion......Page 154
References......Page 155
Introduction......Page 157
Related Work......Page 158
Wall Candidates from Ground Perspective......Page 159
Wall Candidates in Aerial Images......Page 160
Finding the Closest Point......Page 162
Aerial Image Segmentation......Page 163
Homogeneity Test......Page 164
Quality Measure......Page 165
Result......Page 166
Conclusions and Future Work......Page 167
References......Page 168
Problem Statement and Contributions......Page 170
Related Works......Page 171
The Visibility Map......Page 172
Local Maxima Extraction......Page 174
The Rating Function......Page 175
The Detection Probability......Page 176
The Motion Cost......Page 177
The Recognition Function and the Update Process......Page 178
Object Search and Exploration Behavior......Page 179
Implementation Notes......Page 181
References......Page 182
Introduction......Page 184
System Configuration......Page 185
Coordinate Frames......Page 186
Image Jacobians......Page 189
Measurement of Image Features......Page 190
Control Input Voltages......Page 191
Experiment and Result......Page 193
References......Page 195
 Introduction......Page 197
Spherical Projection of a Sphere and Potential Visual Features......Page 198
Visual Features Selection......Page 199
Visual Features Computation Using Any Central Catadioptric System......Page 200
Optimal Features Design......Page 203
Stability Analysis to Modeling Error......Page 204
Experimental Results......Page 205
Simulation Results......Page 207
Conclusions......Page 210
References......Page 211
Related Work......Page 212
Background Extraction from a Sequenced Images Using Temporal Median Operator......Page 213
Dynamic Target Detection by Calculating the Amplitudes of Pixels Velocities......Page 214
First Approach (for Unfolded Image)......Page 217
Second Approach (for Raw Panoramic Image)......Page 218
Comparison between the Two Strategies......Page 221
References......Page 223
Introduction......Page 225
Visual Servoing Arquitecture......Page 227
Modeling the Visual Servoing......Page 228
Experimental Setup......Page 229
Experimental Results......Page 230
Performance Indices......Page 231
Predictive Control Versus Proportional Control......Page 232
References......Page 235
Introduction......Page 237
Outline of Proposed Approach......Page 238
Particle Filtering......Page 240
Similarity Assignment from Line Feature......Page 242
Similarity Assignment from Color Information......Page 243
Experimental Results......Page 244
Conclusion......Page 247
References......Page 248
Introduction......Page 250
Line Features......Page 252
Learning and Matching......Page 254
Fining Candidate Correspondences......Page 256
Experiments......Page 258
Conclusions and Future Work......Page 261
References......Page 262
Introduction......Page 264
Definitions......Page 265
Demonstration Tool......Page 266
Modelling Polyhedral and Quadratic Polynomial Contact Situations......Page 267
Polyhedral Contact Situations......Page 268
Quadratic Contact Situations......Page 269
Extended Contact Model......Page 272
Particle Filter......Page 273
Experiments......Page 274
Conclusions......Page 275
References......Page 276
Introduction......Page 278
Self-modeling Algorithm......Page 280
Configuration of the Generic Model......Page 281
Segmentation......Page 283
Principal Axis Estimation......Page 284
Principal Axis Refinement......Page 286
Experimental Result......Page 288
Evaluation on Accuracy of Principal Axis......Page 289
Evaluation on Curve Fitting Accuracy......Page 290
Conclusions and Future Work......Page 291
References......Page 292
Summary of Human-Robot Interaction and Intelligence......Page 294
Introduction......Page 296
Speech Interaction with Service Robots and Intelligent Environments......Page 297
MARVIN......Page 298
ARTOS......Page 299
Dialog Specification......Page 300
Synthesis......Page 302
System Integration and Callback......Page 303
Application Scenarios......Page 304
References......Page 306
Introduction......Page 309
SIFT......Page 311
The Adaboost Learning Algorithm......Page 312
Hand Detection......Page 313
Multi-class Recognition......Page 314
Experimental Results......Page 315
Background Noise......Page 316
Rotation Invariant Recognition......Page 318
Multi-view Recognition......Page 319
References......Page 321
Introduction......Page 322
Navigation Systems......Page 323
Tactile Information Transmission......Page 324
Concept......Page 325
Navigation System Overview......Page 326
Tactor Interface and Vibration Control......Page 330
Setup and Procedure......Page 331
Results and Discussion......Page 332
References......Page 333
Introduction......Page 335
Let the Body Do the Thinking......Page 337
Behaviors......Page 338
AssistedGrasp......Page 339
ContainerPlace......Page 340
TipPose......Page 341
Results......Page 342
References......Page 344
Introduction......Page 346
Related Work......Page 347
Scene Graph......Page 348
Scene Construction......Page 349
Scene Parametrization......Page 350
Additional Framework Services......Page 351
Accessing SimVis3D from Multiple Hosts......Page 352
Applications......Page 353
MARVIN Scenario......Page 354
RAVON Scenario......Page 355
Future Work......Page 357
References......Page 358
Introduction......Page 359
Related Work......Page 360
Sensor Devices......Page 361
Imitation of Walking Paths......Page 363
Trajectory Following......Page 364
Visual Dynamic Obstacle Avoidance......Page 365
Visual Landmark Navigation......Page 367
Vision-Guided Grasping......Page 368
References......Page 370
Introduction......Page 372
Robot Platforms......Page 373
Design Requirements on Architecture......Page 374
Deliberate Layer......Page 376
Sequencing Layer......Page 378
Communicating with XML......Page 380
Experiments and Results......Page 381
References......Page 383
Introduction......Page 385
Related Work......Page 386
Semantic Context Model......Page 387
Robot-Centered Ontology......Page 388
Semantic Context Inference Engine Using Axiomatic Rules......Page 390
Semantic Context Acquisition Process......Page 391
References......Page 393
Author Index......Page 395