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Chapter 30 — Sonar Sensing

Lindsay Kleeman and Roman Kuc

Sonar or ultrasonic sensing uses the propagation of acoustic energy at higher frequencies than normal hearing to extract information from the environment. This chapter presents the fundamentals and physics of sonar sensing for object localization, landmark measurement and classification in robotics applications. The source of sonar artifacts is explained and how they can be dealt with. Different ultrasonic transducer technologies are outlined with their main characteristics highlighted.

Sonar systems are described that range in sophistication from low-cost threshold-based ranging modules to multitransducer multipulse configurations with associated signal processing requirements capable of accurate range and bearing measurement, interference rejection, motion compensation, and target classification. Continuous-transmission frequency-modulated (CTFM) systems are introduced and their ability to improve target sensitivity in the presence of noise is discussed. Various sonar ring designs that provide rapid surrounding environmental coverage are described in conjunction with mapping results. Finally the chapter ends with a discussion of biomimetic sonar, which draws inspiration from animals such as bats and dolphins.

Antwerp biomimetic sonar system tracking two balls

Author  Herbert Peremans

Video ID : 317

The Antwerp biomimetic bat-head sonar system consists of a single emitter and two receivers. The receivers are constructed by inserting a small omnidirectional microphone in the ear canal of a plastic replica of the outer ear of the bat Phyllostomus discolor. Using the head-related transfer (HRTF) cues, the system is able to localize multiple reflectors in three dimensions based on a single emission. This video demonstrates the tracking of two balls serving as targets.

Chapter 40 — Mobility and Manipulation

Oliver Brock, Jaeheung Park and Marc Toussaint

Mobile manipulation requires the integration of methodologies from all aspects of robotics. Instead of tackling each aspect in isolation,mobilemanipulation research exploits their interdependence to solve challenging problems. As a result, novel views of long-standing problems emerge. In this chapter, we present these emerging views in the areas of grasping, control, motion generation, learning, and perception. All of these areas must address the shared challenges of high-dimensionality, uncertainty, and task variability. The section on grasping and manipulation describes a trend towards actively leveraging contact and physical and dynamic interactions between hand, object, and environment. Research in control addresses the challenges of appropriately coupling mobility and manipulation. The field of motion generation increasingly blurs the boundaries between control and planning, leading to task-consistent motion in high-dimensional configuration spaces, even in dynamic and partially unknown environments. A key challenge of learning formobilemanipulation consists of identifying the appropriate priors, and we survey recent learning approaches to perception, grasping, motion, and manipulation. Finally, a discussion of promising methods in perception shows how concepts and methods from navigation and active perception are applied.

Autonomous robot skill acquisition

Author  Scott Kuindersma, George Konidaris

Video ID : 669

This video demonstrates the autonomous-skill acquisition of a robot acting in a constrained environment called the "Red Room". The environment consists of buttons, levers, and switches, all located at points of interest designated by ARTags. The robot can navigate to these locations and perform primitive manipulation actions, some of which affect the physical state of the maze (e.g., by opening or closing a door).

Adaptive synergies for a humanoid robot hand

Author  Centro di Ricerca Enrico Piaggio

Video ID : 658

We present the first implementation of the UNIPI-hand, a highly integrated prototype of an anthropomorphic hand that conciliates the idea of adaptive synergies with a human-form factor. The video validates the hand's versatility by showing grasp and manipulation actions on a variety of objects.

Chapter 63 — Medical Robotics and Computer-Integrated Surgery

Russell H. Taylor, Arianna Menciassi, Gabor Fichtinger, Paolo Fiorini and Paolo Dario

The growth of medical robotics since the mid- 1980s has been striking. From a few initial efforts in stereotactic brain surgery, orthopaedics, endoscopic surgery, microsurgery, and other areas, the field has expanded to include commercially marketed, clinically deployed systems, and a robust and exponentially expanding research community. This chapter will discuss some major themes and illustrate them with examples from current and past research. Further reading providing a more comprehensive review of this rapidly expanding field is suggested in Sect. 63.4.

Medical robotsmay be classified in many ways: by manipulator design (e.g., kinematics, actuation); by level of autonomy (e.g., preprogrammed versus teleoperation versus constrained cooperative control), by targeted anatomy or technique (e.g., cardiac, intravascular, percutaneous, laparoscopic, microsurgical); or intended operating environment (e.g., in-scanner, conventional operating room). In this chapter, we have chosen to focus on the role of medical robots within the context of larger computer-integrated systems including presurgical planning, intraoperative execution, and postoperative assessment and follow-up.

First, we introduce basic concepts of computerintegrated surgery, discuss critical factors affecting the eventual deployment and acceptance of medical robots, and introduce the basic system paradigms of surgical computer-assisted planning, execution, monitoring, and assessment (surgical CAD/CAM) and surgical assistance. In subsequent sections, we provide an overview of the technology ofmedical robot systems and discuss examples of our basic system paradigms, with brief additional discussion topics of remote telesurgery and robotic surgical simulators. We conclude with some thoughts on future research directions and provide suggested further reading.

A micro-robot operating inside an eye

Author  ETHZ, Zurich, Switzerland - Prof. Bradley Nelson

Video ID : 835

A micro-robot with remote magnetic propulsion for surgery inside an eye.

Chapter 21 — Actuators for Soft Robotics

Alin Albu-Schäffer and Antonio Bicchi

Although we do not know as yet how robots of the future will look like exactly, most of us are sure that they will not resemble the heavy, bulky, rigid machines dangerously moving around in old fashioned industrial automation. There is a growing consensus, in the research community as well as in expectations from the public, that robots of the next generation will be physically compliant and adaptable machines, closely interacting with humans and moving safely, smoothly and efficiently - in other terms, robots will be soft.

This chapter discusses the design, modeling and control of actuators for the new generation of soft robots, which can replace conventional actuators in applications where rigidity is not the first and foremost concern in performance. The chapter focuses on the technology, modeling, and control of lumped parameters of soft robotics, that is, systems of discrete, interconnected, and compliant elements. Distributed parameters, snakelike and continuum soft robotics, are presented in Chap. 20, while Chap. 23 discusses in detail the biomimetic motivations that are often behind soft robotics.

DLR Hand Arm System throwing a ball and Justin catching it

Author  Alin Albu-Schäffer, Thomas Bahls, Berthold Bäuml, Maxime Chalon, Markus Grebenstein, Oliver Eiberger, Werner Friedl, Hannes Höppner, Dominic Lakatos, Nico Mansfeld, Florian Petit, Jens Reinecke, Roman Weitschat, Sebastian Wolf, Tilo Wüsthoff

Video ID : 547

The DLR Hand Arm System throws a ball and Justin catches it. There is no data connection between the two systems. Justin catches the ball by visual observation.

Chapter 23 — Biomimetic Robots

Kyu-Jin Cho and Robert Wood

Biomimetic robot designs attempt to translate biological principles into engineered systems, replacing more classical engineering solutions in order to achieve a function observed in the natural system. This chapter will focus on mechanism design for bio-inspired robots that replicate key principles from nature with novel engineering solutions. The challenges of biomimetic design include developing a deep understanding of the relevant natural system and translating this understanding into engineering design rules. This often entails the development of novel fabrication and actuation to realize the biomimetic design.

This chapter consists of four sections. In Sect. 23.1, we will define what biomimetic design entails, and contrast biomimetic robots with bio-inspired robots. In Sect. 23.2, we will discuss the fundamental components for developing a biomimetic robot. In Sect. 23.3, we will review detailed biomimetic designs that have been developed for canonical robot locomotion behaviors including flapping-wing flight, jumping, crawling, wall climbing, and swimming. In Sect. 23.4, we will discuss the enabling technologies for these biomimetic designs including material and fabrication.

Dynamic surface grasping with directional adhesion

Author  Elliot W. Hawkes, David L. Christensen, Eric V. Eason, Matthew A. Estrada, Matthew Heverly, Evan Hilgemann, Hao Jiang, Morgan T. Pope, Aaron Parness, Mark R. Cutkosky

Video ID : 413

This video shows applications for perching UAVs and grasping space junk.

Chapter 22 — Modular Robots

I-Ming Chen and Mark Yim

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 of existing systems, it presents some of the existing systems in the context of a discussion of the issues and elements in industrial modular robotics and modular robotics research. The reader is encouraged to look at the references for further discussion on any of the presented topics.


Author  Hod Lipson

Video ID : 2

Self-reconfiguring cubes that reproduce a chain of cubes. Reference: V. Zykov, E. Mytilinaios, B. Adams, H. LipsonRobotics: Self-reproducing machines, Nature 435, 163-164 (2005); doi:10.1038/435163a

Chapter 64 — Rehabilitation and Health Care Robotics

H.F. Machiel Van der Loos, David J. Reinkensmeyer and Eugenio Guglielmelli

The field of rehabilitation robotics considers robotic systems that 1) provide therapy for persons seeking to recover their physical, social, communication, or cognitive function, and/or that 2) assist persons who have a chronic disability to accomplish activities of daily living. This chapter will discuss these two main domains and provide descriptions of the major achievements of the field over its short history and chart out the challenges to come. Specifically, after providing background information on demographics (Sect. 64.1.2) and history (Sect. 64.1.3) of the field, Sect. 64.2 describes physical therapy and exercise training robots, and Sect. 64.3 describes robotic aids for people with disabilities. Section 64.4 then presents recent advances in smart prostheses and orthoses that are related to rehabilitation robotics. Finally, Sect. 64.5 provides an overview of recent work in diagnosis and monitoring for rehabilitation as well as other health-care issues. The reader is referred to Chap. 73 for cognitive rehabilitation robotics and to Chap. 65 for robotic smart home technologies, which are often considered assistive technologies for persons with disabilities. At the conclusion of the present chapter, the reader will be familiar with the history of rehabilitation robotics and its primary accomplishments, and will understand the challenges the field may face in the future as it seeks to improve health care and the well being of persons with disabilities.

The Arm Guide

Author  Lennie Kahn

Video ID : 494

The Arm Guide was an early rehabilitation therapy robot used to study the role of active assistance in robotic therapy after stroke, which was developed at the Rehabilitation Institute of Chicago and the University of California at Irvine. It was a singly-actuated, trombone-like device which could be oriented in different directions. It was used to sense patient's arm movement along a linear bearing and then assisted in completing movements with a motor attached to a timing belt along the bearing. It also measured off-axis forces generated against the linear bearing, using a 6-axis force-torque cell in order to quantify abnormal synergies.

Chapter 20 — Snake-Like and Continuum Robots

Ian D. Walker, Howie Choset and Gregory S. Chirikjian

This chapter provides an overview of the state of the art of snake-like (backbones comprised of many small links) and continuum (continuous backbone) robots. The history of each of these classes of robot is reviewed, focusing on key hardware developments. A review of the existing theory and algorithms for kinematics for both types of robot is presented, followed by a summary ofmodeling of locomotion for snake-like and continuum mechanisms.

RDP experimental results

Author  Nabil Simaan

Video ID : 247

Demonstrates a prototype system for transurethral bladder cancer resection. This robot has a 5 mm snake with two segments and three working channels including a custom-made fiberscope, laser ablation and a gripper [1-3]. References: [1] A. Bajo, R. B. Pickens, S. D. Herrell, N. Simaan: A pilot ex-vivo evaluation of a telerobotic system for transurethral intervention and surveillance, The 5th Hamlyn Symp. Medical Robotics (2012), pp. 3-4; [2] A. Bajo, R. B. Pickens, S. D. Herrell, N. Simaan: Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Karlsruhe (2013), pp. 5817-5822; [3] R. E. Goldman, A. Bajo, L. S. MacLachlan, R. Pickens, S. D. Herrell, N. Simaan: Design and performance evaluation of a minimally invasive telerobotic platform for transurethral surveillance and intervention, IEEE Trans. Biomed. Eng. 60(4), 918-925 (2013)

Chapter 46 — Simultaneous Localization and Mapping

Cyrill Stachniss, John J. Leonard and Sebastian Thrun

This chapter provides a comprehensive introduction in to the simultaneous localization and mapping problem, better known in its abbreviated form as SLAM. SLAM addresses the main perception problem of a robot navigating an unknown environment. While navigating the environment, the robot seeks to acquire a map thereof, and at the same time it wishes to localize itself using its map. The use of SLAM problems can be motivated in two different ways: one might be interested in detailed environment models, or one might seek to maintain an accurate sense of a mobile robot’s location. SLAM serves both of these purposes.

We review the three major paradigms from which many published methods for SLAM are derived: (1) the extended Kalman filter (EKF); (2) particle filtering; and (3) graph optimization. We also review recent work in three-dimensional (3-D) SLAM using visual and red green blue distance-sensors (RGB-D), and close with a discussion of open research problems in robotic mapping.

Pose graph compression for laser-based SLAM 3

Author  Cyrill Stachniss

Video ID : 451

This video illustrates pose graph compression, a technique for achieving long-term SLAM, as discussed in Chap.46.5, Springer Handbook of Robotics, 2nd edn (2016). Reference: H. Kretzschmar, C. Stachniss: Information-theoretic compression of pose graphs for laser-based SLAM, Int. J. Robot. Res. 31(11), 1219-1230 (2012).