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Chapter 61 — Robot Surveillance and Security

Wendell H. Chun and Nikolaos Papanikolopoulos

This chapter introduces the foundation for surveillance and security robots for multiple military and civilian applications. The key environmental domains are mobile robots for ground, aerial, surface water, and underwater applications. Surveillance literallymeans to watch fromabove,while surveillance robots are used to monitor the behavior, activities, and other changing information that are gathered for the general purpose of managing, directing, or protecting one’s assets or position. In a practical sense, the term surveillance is taken to mean the act of observation from a distance, and security robots are commonly used to protect and safeguard a location, some valuable assets, or personal against danger, damage, loss, and crime. Surveillance is a proactive operation,while security robots are a defensive operation. The construction of each type of robot is similar in nature with amobility component, sensor payload, communication system, and an operator control station.

After introducing the major robot components, this chapter focuses on the various applications. More specifically, Sect. 61.3 discusses the enabling technologies of mobile robot navigation, various payload sensors used for surveillance or security applications, target detection and tracking algorithms, and the operator’s robot control console for human–machine interface (HMI). Section 61.4 presents selected research activities relevant to surveillance and security, including automatic data processing of the payload sensors, automaticmonitoring of human activities, facial recognition, and collaborative automatic target recognition (ATR). Finally, Sect. 61.5 discusses future directions in robot surveillance and security, giving some conclusions and followed by references.

Camera control from gaze

Author  Fabien Spindler

Video ID : 702

Visual-servoing techniques consist of using the data provided by one or several cameras in order to control the motion of a robotic security or surveillance system. A large variety of positioning or target tracking tasks can be implemented by controlling from one to all degrees of freedom of the system.

Chapter 67 — Humanoids

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi and Eiichi Yoshida

Humanoid robots selectively immitate aspects of human form and behavior. Humanoids come in a variety of shapes and sizes, from complete human-size legged robots to isolated robotic heads with human-like sensing and expression. This chapter highlights significant humanoid platforms and achievements, and discusses some of the underlying goals behind this area of robotics. Humanoids tend to require the integration ofmany of the methods covered in detail within other chapters of this handbook, so this chapter focuses on distinctive aspects of humanoid robotics with liberal cross-referencing.

This chapter examines what motivates researchers to pursue humanoid robotics, and provides a taste of the evolution of this field over time. It summarizes work on legged humanoid locomotion, whole-body activities, and approaches to human–robot communication. It concludes with a brief discussion of factors that may influence the future of humanoid robots.

Dynamic multicontact motion

Author  Eiichi Yoshida

Video ID : 597

A method to plan optimal whole-body, dynamic motion in multicontact non-gaited transitions has been developed. Using a B-spline time parameterization for the active joints, we turn the motion-planning problem into a semi-infinite programming formulation which is solved by nonlinear optimization techniques. We address the problem of the balance within the optimization problem and demonstrate that generating whole-body multicontact dynamic motion for complex tasks is possible.

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.

Full body compliant humanoid COMAN

Author  IIT - Advanced Robotics

Video ID : 698

The compliant humanoid COMAN is developed by the Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia (IIT). All the achievements shown in this video are attributed to the team work of the Humanoid Group in ADVR, IIT.

Chapter 53 — Multiple Mobile Robot Systems

Lynne E. Parker, Daniela Rus and Gaurav S. Sukhatme

Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 53.3, followed by a discussion of networked mobile robots in Sect. 53.4. Following this we discuss swarm robot systems in Sect. 53.5 and modular robot systems in Sect. 53.6. While swarm and modular systems typically assume large numbers of homogeneous robots, other types of multirobot systems include heterogeneous robots. We therefore next discuss heterogeneity in cooperative robot teams in Sect. 53.7. Once robot teams allow for individual heterogeneity, issues of task allocation become important; Sect. 53.8 therefore discusses common approaches to task allocation. Section 53.9 discusses the challenges of multirobot learning, and some representative approaches. We outline some of the typical application domains which serve as test beds for multirobot systems research in Sect. 53.10. Finally, we conclude in Sect. 53.11 with some summary remarks and suggestions for further reading.

Multi-robot formation control - Khepera Team

Author  Stefano Chiaverini

Video ID : 217

This video illustrates a multi-robot system made up of Khepera II mobile robots performing a formation-control mission. The robots have to attain and maintain a linear formation while a dynamic obstacle (a ball) moves through the formation.

Chapter 79 — Robotics for Education

David P. Miller and Illah Nourbakhsh

Educational robotics programs have become popular in most developed countries and are becoming more and more prevalent in the developing world as well. Robotics is used to teach problem solving, programming, design, physics, math and even music and art to students at all levels of their education. This chapter provides an overview of some of the major robotics programs along with the robot platforms and the programming environments commonly used. Like robot systems used in research, there is a constant development and upgrade of hardware and software – so this chapter provides a snapshot of the technologies being used at this time. The chapter concludes with a review of the assessment strategies that can be used to determine if a particular robotics program is benefitting students in the intended ways.

SeaPerch Challenge 2014 'The Heist'

Author  Chris Hansen

Video ID : 634

This video shows one of the first runs of the 2014 SeaPerch Challenge, in which underwater, remotely-operated robots have to maneuver between obstacles while collecting objects from the floor of the pool.

Chapter 74 — Learning from Humans

Aude G. Billard, Sylvain Calinon and Rüdiger Dillmann

This chapter surveys the main approaches developed to date to endow robots with the ability to learn from human guidance. The field is best known as robot programming by demonstration, robot learning from/by demonstration, apprenticeship learning and imitation learning. We start with a brief historical overview of the field. We then summarize the various approaches taken to solve four main questions: when, what, who and when to imitate. We emphasize the importance of choosing well the interface and the channels used to convey the demonstrations, with an eye on interfaces providing force control and force feedback. We then review algorithmic approaches to model skills individually and as a compound and algorithms that combine learning from human guidance with reinforcement learning. We close with a look on the use of language to guide teaching and a list of open issues.

Reproduction of dishwasher-unloading task based on task-precedence graph

Author  Michael Pardowitz, Raoul Zöllner, Steffen Knoop, Tamim Asfour, Kristian Regenstein, Pedram Azad, Joachim Schröder, Rüdiger Dillmann

Video ID : 103

ARMAR-III humanoid robot reproducing the task of unloading a dishwasher, based on a task precedence graph learned from demonstrations. References: 1) T. Asfour, K. Regenstein, P. Azad, J. Schroeder, R. Dillmann: ARMAR-III: A humanoid platform for perception-action integration, Int. Workshop Human-Centered Robotic Systems (HCRS)(2006); 2) M. Pardowitz, R. Zöllner, S. Knoop, R. Dillmann: Incremental learning of tasks from user demonstrations, past experiences and vocal comments, IEEE Trans. Syst. Man Cybernet. B37(2), 322–332 (2007); URL: .

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.

Field experiments with the OctArm continuum manipulator

Author  Ian Walker

Video ID : 157

Video overview of the OctArm continuum manipulator's applications and features.

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.

Adaptive force/velocity control for opening unknown doors

Author  Yiannis Karayiannidis, Colin Smith, Francisco E. Vina, Petter Ogren, Danica Kragic

Video ID : 675

We propose a method that can open doors without prior knowledge of the door's kinematics. The method consists of a velocity controller that uses force measurements and estimates of the radial direction based on adaptive estimates of the position of the door hinge. The control action is decomposed into an estimated radial and tangential direction, following the concept of hybrid force/motion control.

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.

Robotic ray takes a swim

Author  Hilary Bart-Smith

Video ID : 434

Bart-Smith's lab built the robot to mimic the nearly silent flaps of a ray's wing-like fins as it swims or glides through the water. They first began by studying living rays in the ocean and in the lab, as well as dissecting dead specimens to understand how nature engineered their bodies. Such rays can accelerate or hold position while using relatively little energy — an inspiration for making underwater drones that can stay at sea for long periods, without refueling or recharging.

Chapter 17 — Limbed Systems

Shuuji Kajita and Christian Ott

A limbed system is a mobile robot with a body, legs and arms. First, its general design process is discussed in Sect. 17.1. Then we consider issues of conceptual design and observe designs of various existing robots in Sect. 17.2. As an example in detail, the design of a humanoid robot HRP-4C is shown in Sect. 17.3. To design a limbed system of good performance, it is important to take into account of actuation and control, like gravity compensation, limit cycle dynamics, template models, and backdrivable actuation. These are discussed in Sect. 17.4.

In Sect. 17.5, we overview divergence of limbed systems. We see odd legged walkers, leg–wheel hybrid robots, leg–arm hybrid robots, tethered walking robots, and wall-climbing robots. To compare limbed systems of different configurations,we can use performance indices such as the gait sensitivity norm, the Froude number, and the specific resistance, etc., which are introduced in Sect. 17.6.

Passive dynamic walking with knees

Author  Tad McGeer

Video ID : 527

Passive dynamic walker developed by Dr. McGeer.