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Chapter 54 — Industrial Robotics

Martin Hägele, Klas Nilsson, J. Norberto Pires and Rainer Bischoff

Much of the technology that makes robots reliable, human friendly, and adaptable for numerous applications has emerged from manufacturers of industrial robots. With an estimated installation base in 2014 of about 1:5million units, some 171 000 new installations in that year and an annual turnover of the robotics industry estimated to be US$ 32 billion, industrial robots are by far the largest commercial application of robotics technology today.

The foundations for robot motion planning and control were initially developed with industrial applications in mind. These applications deserve special attention in order to understand the origin of robotics science and to appreciate the many unsolved problems that still prevent the wider use of robots in today’s agile manufacturing environments. In this chapter, we present a brief history and descriptions of typical industrial robotics applications and at the same time we address current critical state-of-the-art technological developments. We show how robots with differentmechanisms fit different applications and how applications are further enabled by latest technologies, often adopted from technological fields outside manufacturing automation.

We will first present a brief historical introduction to industrial robotics with a selection of contemporary application examples which at the same time refer to a critical key technology. Then, the basic principles that are used in industrial robotics and a review of programming methods will be presented. We will also introduce the topic of system integration particularly from a data integration point of view. The chapter will be closed with an outlook based on a presentation of some unsolved problems that currently inhibit wider use of industrial robots.

SMErobot video coffee break

Author  Martin Haegele

Video ID : 261

Coffee break: Tom and Michael, two stressed workers of an SME, dream of a robot helping them in their daily routine. One idea inspires the next ... until their ruminations advance to novel work environments and new and different types of robots, topics to be explored in the final project. © Copyright This video is copyrighted property of the SMErobot consortium. Any use of the video other than for private, non-commercial viewing purposes is strictly prohibited.

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.

Extended Kalman-filter SLAM

Author  John Leonard

Video ID : 455

This video shows an illustration of Kalman filter SLAM, as described in Chap. 46.3.1, Springer Handbook of Robotics, 2nd edn (2016). References: J.J. Leonard, H. Feder: A computationally efficient method for large-scale concurrent mapping and localization, Proc. Int. Symp. Robot. Res. (ISRR), Salt Lake City (2000), pp. 169–176.

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.

3-D, collision-free motion combining locomotion and manipulation by humanoid robot HRP-2 (experiment)

Author  Eiichi Yoshida

Video ID : 598

In this video, the whole-body motion generation described in video 598 is experimentally validated, using the HRP-2 humanoid robot.

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.


Author  Shigeo Hirose

Video ID : 397

The ACM-R5H is a snake robot that can go where no human can go. It is designed to perform underwater inspections and search-and-rescue missions in hazardous environments. It is a snake-like robot with extra dust sealing, waterproofing and a rigid structure that allows operation under any severe condition. It is composed of several modules with small passive wheels that allow the robot to move smoothly on surfaces. ACM-R5 can also move sinuously in underwater environments. In the front unit, a wireless camera is mounted on a special mechanism that keeps the view orientation always horizontal. ACM-R5H is ideal for inspection and search operations in underwater environments.

Chapter 1 — Robotics and the Handbook

Bruno Siciliano and Oussama Khatib

Robots! Robots on Mars and in oceans, in hospitals and homes, in factories and schools; robots fighting fires, making goods and products, saving time and lives. Robots today are making a considerable impact on many aspects of modern life, from industrial manufacturing to healthcare, transportation, and exploration of the deep space and sea. Tomorrow, robotswill be as pervasive and personal as today’s personal computers. This chapter retraces the evolution of this fascinating field from the ancient to themodern times through a number of milestones: from the first automated mechanical artifact (1400 BC) through the establishment of the robot concept in the 1920s, the realization of the first industrial robots in the 1960s, the definition of robotics science and the birth of an active research community in the 1980s, and the expansion towards the challenges of the human world of the twenty-first century. Robotics in its long journey has inspired this handbook which is organized in three layers: the foundations of robotics science; the consolidated methodologies and technologies of robot design, sensing and perception, manipulation and interfaces, mobile and distributed robotics; the advanced applications of field and service robotics, as well as of human-centered and life-like robotics.

Robots — A 50 year journey

Author  Oussama Khatib

Video ID : 805

In this collection of short segments, this video retraces the history of the most influential modern robots developed in the 20th century (1950-2000). The 50-year journey was first presented at the 2000 IEEE International Conference on Robotics and Automation (ICRA) in San Francisco.

Chapter 6 — Model Identification

John Hollerbach, Wisama Khalil and Maxime Gautier

This chapter discusses how to determine the kinematic parameters and the inertial parameters of robot manipulators. Both instances of model identification are cast into a common framework of least-squares parameter estimation, and are shown to have common numerical issues relating to the identifiability of parameters, adequacy of the measurement sets, and numerical robustness. These discussions are generic to any parameter estimation problem, and can be applied in other contexts.

For kinematic calibration, the main aim is to identify the geometric Denavit–Hartenberg (DH) parameters, although joint-based parameters relating to the sensing and transmission elements can also be identified. Endpoint sensing or endpoint constraints can provide equivalent calibration equations. By casting all calibration methods as closed-loop calibration, the calibration index categorizes methods in terms of how many equations per pose are generated.

Inertial parameters may be estimated through the execution of a trajectory while sensing one or more components of force/torque at a joint. Load estimation of a handheld object is simplest because of full mobility and full wrist force-torque sensing. For link inertial parameter estimation, restricted mobility of links nearer the base as well as sensing only the joint torque means that not all inertial parameters can be identified. Those that can be identified are those that affect joint torque, although they may appear in complicated linear combinations.

Dynamic identification of a parallel robot : Trajectory without load

Author  Maxime Gautier

Video ID : 488

This video shows a trajectory without payload used to identify the dynamic parameters and joint drive gains of a parallel prototype robot Orthoglyde. Details and results are given in the paper : S. Briot, M. Gautier: Global identification of joint drive gains and dynamic parameters of parallel robots, Multibody Syst. Dyn. 33(1), 3-26 (2015); doi 10.1007/s11044-013-9403-6

Chapter 43 — Telerobotics

Günter Niemeyer, Carsten Preusche, Stefano Stramigioli and Dongjun Lee

In this chapter we present an overview of the field of telerobotics with a focus on control aspects. To acknowledge some of the earliest contributions and motivations the field has provided to robotics in general, we begin with a brief historical perspective and discuss some of the challenging applications. Then, after introducing and classifying the various system architectures and control strategies, we emphasize bilateral control and force feedback. This particular area has seen intense research work in the pursuit of telepresence. We also examine some of the emerging efforts, extending telerobotic concepts to unconventional systems and applications. Finally,we suggest some further reading for a closer engagement with the field.

Teleoperated humanoid robot - HRP: Tele-driving of lifting vehicle

Author  Masami Kobayashi, Hisashi Moriyama, Toshiyuki Itoko, Yoshitaka Yanagihara, Takao Ueno, Kazuhisa Ohya, Kazuhito Yokoi

Video ID : 319

This video shows the teleoperation a humanoid robot HRP using whole-body multimodal tele-existence system. The human operator teleoperates the humanoid robot to drive a lifting vehicle in a warehouse. Presented at ICRA 2002.

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.

Cybernetic human HRP-4C quick turn

Author  AIST

Video ID : 525

Quick slip-turn of an HRP-4C on its toes developed by Dr. Miura, Dr. Kanehiro, Dr. Kaneko, Dr. Kajita, and Dr. Yokoi.

Chapter 72 — Social Robotics

Cynthia Breazeal, Kerstin Dautenhahn and Takayuki Kanda

This chapter surveys some of the principal research trends in Social Robotics and its application to human–robot interaction (HRI). Social (or Sociable) robots are designed to interact with people in a natural, interpersonal manner – often to achieve positive outcomes in diverse applications such as education, health, quality of life, entertainment, communication, and tasks requiring collaborative teamwork. The long-term goal of creating social robots that are competent and capable partners for people is quite a challenging task. They will need to be able to communicate naturally with people using both verbal and nonverbal signals. They will need to engage us not only on a cognitive level, but on an emotional level as well in order to provide effective social and task-related support to people. They will need a wide range of socialcognitive skills and a theory of other minds to understand human behavior, and to be intuitively understood by people. A deep understanding of human intelligence and behavior across multiple dimensions (i. e., cognitive, affective, physical, social, etc.) is necessary in order to design robots that can successfully play a beneficial role in the daily lives of people. This requires a multidisciplinary approach where the design of social robot technologies and methodologies are informed by robotics, artificial intelligence, psychology, neuroscience, human factors, design, anthropology, and more.

Explaining a typical session with Sunflower as a home companion in the Robot House

Author  Kerstin Dautenhahn

Video ID : 221

The video illustrates and explains one of the final showcases of the European project LIREC ( in the University of Hertfordshire Robot House. The Sunflower robot, developed at UH, provides cognitive and physical assistance in a home scenario. In the video, one of the researchers, Dag Syrdal, explains a typical session in long-term evaluation studies in the Robot House. Sunflower has access to a network of smart sensors in the Robot House. The video also illustrates the concept of migration (moving of the robot's mind/AI to a differently embodied system).

A robot that approaches pedestrians

Author  Takayuki Kanda

Video ID : 258

This video illustrates an example of a study in which the social robot's capability for nonverbal interaction was developed. In the study, an anticipation technique was developed, where the robot observes pedestrians' motions and anticipates each pedestrian's future motions thanks to the accumulation of a large amount of data on pedestrian trajectories. Then, it plans its motion to approach a pedestrian from a frontal direction and initiates a conversation with the pedestrian.