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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.

Overview of Kismet's expressive behavior

Author  Cynthia Breazeal

Video ID : 557

This video presents an overview of Kismet's expressive behavior and rationale. The video presents how Kismet can express internal emotive/affective states through three modalities: facial expression, vocal affect, and body posture. The video also shows how Kismet can recognize aspects of affective intent in human speech (e.g., praising, scolding, soothing, and attentional bids). The video shows how human participants can interact in a natural and intuitive way with the robot, by reading and responding to its emotive and social cues.

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 Kuka KR270 : Trajectory without load

Author  Maxime Gautier

Video ID : 486

This video shows a trajectory without load used to identify the dynamic parameters of the links, load, joint drive gains and gravity compensator of a heavy industrial Kuka KR 270 manipulator. Details and results are given in the paper: A. Jubien, M. Gautier: Global identification of spring balancer, dynamic parameters and drive gains of heavy industrial robots, IEEE/RSJ Int. Conf. Intel. Robot. Syst. (IROS), Tokyo (2013) pp. 1355-1360

Chapter 18 — Parallel Mechanisms

Jean-Pierre Merlet, Clément Gosselin and Tian Huang

This chapter presents an introduction to the kinematics and dynamics of parallel mechanisms, also referred to as parallel robots. As opposed to classical serial manipulators, the kinematic architecture of parallel robots includes closed-loop kinematic chains. As a consequence, their analysis differs considerably from that of their serial counterparts. This chapter aims at presenting the fundamental formulations and techniques used in their analysis.

6-DOF statically balanced parallel robot

Author  Clément Gosselin

Video ID : 48

This video demonstrates a 6-DOF statically balanced parallel robot. References: 1. C. Gosselin, J. Wang, T. Laliberté, I. Ebert-Uphoff: On the design of a statically balanced 6-DOF parallel manipulator, Proc. IFToMM Tenth World Congress Theory of Machines and Mechanisms, Oulu (1999) pp. 1045-1050; 2. C. Gosselin, J. Wang: On the design of statically balanced motion bases for flight simulators, Proc. AIAA Modeling and Simulation Technologies Conf., Boston (1998), pp. 272-282; 3. I. Ebert-Uphoff, C. Gosselin: Dynamic modeling of a class of spatial statically-balanced parallel platform mechanisms, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Detroit (1999), Vol. 2, pp. 881-888

Chapter 76 — Evolutionary Robotics

Stefano Nolfi, Josh Bongard, Phil Husbands and Dario Floreano

Evolutionary Robotics is a method for automatically generating artificial brains and morphologies of autonomous robots. This approach is useful both for investigating the design space of robotic applications and for testing scientific hypotheses of biological mechanisms and processes. In this chapter we provide an overview of methods and results of Evolutionary Robotics with robots of different shapes, dimensions, and operation features. We consider both simulated and physical robots with special consideration to the transfer between the two worlds.

Visual navigation of mobile robot with pan-tilt camera

Author  Dario Floreano

Video ID : 36

A mobile robot with a pan-tilt camera is asked to to navigate in a square arena with low walls and located in an office.

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.

Demonstration by kinesthetic teaching

Author  Baris Akgun, Maya Cakmak, Karl Jiang, Andrea Thomaz

Video ID : 100

Demonstration by kinesthetic teaching with the Simon humanoid robot. Reference: B. Akgun, M. Cakmak, K. Jiang, A.L. Thomaz: Keyframe-based learning from demonstration, Int. J. Social Robot. 4(4), 343–355 (2012); URL: .

Chapter 8 — Motion Control

Wan Kyun Chung, Li-Chen Fu and Torsten Kröger

This chapter will focus on the motion control of robotic rigid manipulators. In other words, this chapter does not treat themotion control ofmobile robots, flexible manipulators, and manipulators with elastic joints. The main challenge in the motion control problem of rigid manipulators is the complexity of their dynamics and uncertainties. The former results from nonlinearity and coupling in the robot manipulators. The latter is twofold: structured and unstructured. Structured uncertainty means imprecise knowledge of the dynamic parameters and will be touched upon in this chapter, whereas unstructured uncertainty results from joint and link flexibility, actuator dynamics, friction, sensor noise, and unknown environment dynamics, and will be treated in other chapters. In this chapter, we begin with an introduction to motion control of robot manipulators from a fundamental viewpoint, followed by a survey and brief review of the relevant advanced materials. Specifically, the dynamic model and useful properties of robot manipulators are recalled in Sect. 8.1. The joint and operational space control approaches, two different viewpoints on control of robot manipulators, are compared in Sect. 8.2. Independent joint control and proportional– integral–derivative (PID) control, widely adopted in the field of industrial robots, are presented in Sects. 8.3 and 8.4, respectively. Tracking control, based on feedback linearization, is introduced in Sect. 8.5. The computed-torque control and its variants are described in Sect. 8.6. Adaptive control is introduced in Sect. 8.7 to solve the problem of structural uncertainty, whereas the optimality and robustness issues are covered in Sect. 8.8. To compute suitable set point signals as input values for these motion controllers, Sect. 8.9 introduces reference trajectory planning concepts. Since most controllers of robotmanipulators are implemented by using microprocessors, the issues of digital implementation are discussed in Sect. 8.10. Finally, learning control, one popular approach to intelligent control, is illustrated in Sect. 8.11.

Virtual whiskers - Highly responsive robot collision avoidance

Author  Thomas Schlegl, Torsten Kröger, Andre Gaschler, Oussama Khatib, Hubert Zangl

Video ID : 758

All mammals but humans use whiskers in order to rapidly acquire information about objects in the vicinity of the head. Collisions of the head and objects can be avoided as the contact point is moved from the body surface to the whiskers. Such a behavior is also highly desirable during many robot tasks such as for human-robot interaction. This video shows the use of novel capacitive proximity sensors so that robots can sense when they approach a human (or an object) and react before they actually collide with it. The sensors are flexible and thin so that they feature skin-like properties and can be attached to various robotic links and joint shapes. In comparison to capacitive proximity sensors, the proposed virtual whiskers offer better sensitivity towards small conductive as well as non-conductive objects. Equipped with the new proximity sensors, a seven-joint robot for human-robot interaction tasks demonstrates the efficiency and responsiveness in this video. Reference: T. Schlegl, T. Kröger, A. Gaschler, O. Khatib, H. Zangl: Virtual whiskers - Highly responsive robot collision avoidance, Proc. IEEE/RSJ Int. Conf. Intel. Robot. Syst. (IROS), Tokyo (2013)

Chapter 50 — Modeling and Control of Robots on Rough Terrain

Keiji Nagatani, Genya Ishigami and Yoshito Okada

In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble.

After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.

A path-following control scheme for a four-wheeled mobile robot

Author  Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Video ID : 188

This video shows a feedback control for planetary rovers. It calculates both steering and driving maneuvers that can compensate for wheel slips and also enable the rover to successfully traverse a sandy slope. The performance was confirmed in slope traversal experiments using a four-wheeled rover test bed. In this split video clip, no slip control is performed on the left, and slip-compensation-feedback control is conducted on the right. The rover's motion is detected by the visual odometry system using a telecentric camera.

Chapter 12 — Robotic Systems Architectures and Programming

David Kortenkamp, Reid Simmons and Davide Brugali

Robot software systems tend to be complex. This complexity is due, in large part, to the need to control diverse sensors and actuators in real time, in the face of significant uncertainty and noise. Robot systems must work to achieve tasks while monitoring for, and reacting to, unexpected situations. Doing all this concurrently and asynchronously adds immensely to system complexity.

The use of a well-conceived architecture, together with programming tools that support the architecture, can often help to manage that complexity. Currently, there is no single architecture that is best for all applications – different architectures have different advantages and disadvantages. It is important to understand those strengths and weaknesses when choosing an architectural approach for a given application.

This chapter presents various approaches to architecting robotic systems. It starts by defining terms and setting the context, including a recounting of the historical developments in the area of robot architectures. The chapter then discusses in more depth the major types of architectural components in use today – behavioral control (Chap. 13), executives, and task planners (Chap. 14) – along with commonly used techniques for interconnecting connecting those components. Throughout, emphasis will be placed on programming tools and environments that support these architectures. A case study is then presented, followed by a brief discussion of further reading.

Software product line engineering for robotics

Author  Davide Brugali

Video ID : 273

The video illustrates the software product-line approach to the development of robot software control systems and the open source HyperFlex toolchain that supports it.

Chapter 26 — Flying Robots

Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus W. Achtelik, David Lentink, Paul Y. Oh and Roland Siegwart

Unmanned aircraft systems (UASs) have drawn increasing attention recently, owing to advancements in related research, technology, and applications. While having been deployed successfully in military scenarios for decades, civil use cases have lately been tackled by the robotics research community.

This chapter overviews the core elements of this highly interdisciplinary field; the reader is guided through the design process of aerial robots for various applications starting with a qualitative characterization of different types of UAS. Design and modeling are closely related, forming a typically iterative process of drafting and analyzing the related properties. Therefore, we overview aerodynamics and dynamics, as well as their application to fixed-wing, rotary-wing, and flapping-wing UAS, including related analytical tools and practical guidelines. Respecting use-case-specific requirements and core autonomous robot demands, we finally provide guidelines to related system integration challenges.

senseSoar UAV avionics testing

Author  Kostas Alexis

Video ID : 603

This video presents the avionics testing trial of the senseSoar solar-powered UAV.

Chapter 55 — Space Robotics

Kazuya Yoshida, Brian Wilcox, Gerd Hirzinger and Roberto Lampariello

In the space community, any unmanned spacecraft can be called a robotic spacecraft. However, Space Robots are considered to be more capable devices that can facilitate manipulation, assembling, or servicing functions in orbit as assistants to astronauts, or to extend the areas and abilities of exploration on remote planets as surrogates for human explorers.

In this chapter, a concise digest of the historical overview and technical advances of two distinct types of space robotic systems, orbital robots and surface robots, is provided. In particular, Sect. 55.1 describes orbital robots, and Sect. 55.2 describes surface robots. In Sect. 55.3, the mathematical modeling of the dynamics and control using reference equations are discussed. Finally, advanced topics for future space exploration missions are addressed in Sect. 55.4.

DLR predictive simulation compensating 6-second round-trip delay

Author  Gerd Hirzinger, Klaus Landzettel

Video ID : 331

This brief video shows results of the ROTEX experiment on the fully automatic grasping of a small free-floating cube with flattened edges by the ground computers which evaluated the stereo images from the robot gripper, estimated the motion, predicted it for the 6 s communication round-trip delay, and sent up the commands for grasping. In the view are the results of predictive simulation (right-hand side) and the delayed true-camera measurements (left-hand side).