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Author: Sylvain Calinon
Publisher: EPFL Press
Published: 2009-08-24
Total Pages: 248
ISBN-13: 9781439808672
DOWNLOAD EBOOKRecent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.
Author: Sonia Dechter
Publisher: Springer Nature
Published: 2022-06-01
Total Pages: 109
ISBN-13: 3031015703
DOWNLOAD EBOOKLearning from Demonstration (LfD) explores techniques for learning a task policy from examples provided by a human teacher. The field of LfD has grown into an extensive body of literature over the past 30 years, with a wide variety of approaches for encoding human demonstrations and modeling skills and tasks. Additionally, we have recently seen a focus on gathering data from non-expert human teachers (i.e., domain experts but not robotics experts). In this book, we provide an introduction to the field with a focus on the unique technical challenges associated with designing robots that learn from naive human teachers. We begin, in the introduction, with a unification of the various terminology seen in the literature as well as an outline of the design choices one has in designing an LfD system. Chapter 2 gives a brief survey of the psychology literature that provides insights from human social learning that are relevant to designing robotic social learners. Chapter 3 walks through an LfD interaction, surveying the design choices one makes and state of the art approaches in prior work. First, is the choice of input, how the human teacher interacts with the robot to provide demonstrations. Next, is the choice of modeling technique. Currently, there is a dichotomy in the field between approaches that model low-level motor skills and those that model high-level tasks composed of primitive actions. We devote a chapter to each of these. Chapter 7 is devoted to interactive and active learning approaches that allow the robot to refine an existing task model. And finally, Chapter 8 provides best practices for evaluation of LfD systems, with a focus on how to approach experiments with human subjects in this domain.
Author: Aude Billard
Publisher: MIT Press
Published: 2022-02-08
Total Pages: 425
ISBN-13: 0262367017
DOWNLOAD EBOOKMethods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Author: Bin Fang
Publisher: Frontiers Media SA
Published: 2021-06-08
Total Pages: 224
ISBN-13: 2889668444
DOWNLOAD EBOOKAuthor: Thorsten Schüppstuhl
Publisher: Springer Nature
Published: 2023-07-10
Total Pages: 362
ISBN-13: 3031100719
DOWNLOAD EBOOKThis Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI).
Author: Bruno Siciliano
Publisher: Springer
Published: 2016-07-27
Total Pages: 2259
ISBN-13: 3319325523
DOWNLOAD EBOOKThe second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Author: Luka Peternel
Publisher: Frontiers Media SA
Published: 2020-01-22
Total Pages: 229
ISBN-13: 2889633128
DOWNLOAD EBOOKIn the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
Author: Kerstin Dautenhahn
Publisher: Springer Science & Business Media
Published: 2006-04-11
Total Pages: 297
ISBN-13: 0306473739
DOWNLOAD EBOOKSocially situated planning provides one mechanism for improving the social awareness ofagents. Obviously this work isin the preliminary stages and many of the limitation and the relationship to other work could not be addressed in such a short chapter. The chief limitation, of course, is the strong commitment to de?ning social reasoning solely atthe meta-level, which restricts the subtlety of social behavior. Nonetheless, our experience in some real-world military simulation applications suggest that the approach, even in its preliminary state, is adequate to model some social interactions, and certainly extends the sta- of-the art found in traditional training simulation systems. Acknowledgments This research was funded by the Army Research Institute under contract TAPC-ARI-BR References [1] J. Gratch. Emile: Marshalling passions in training and education. In Proceedings of the Fourth International Conference on Autonomous Agents, pages 325–332, New York, 2000. ACM Press. [2] J. Gratch and R. Hill. Continous planning and collaboration for command and control in joint synthetic battlespaces. In Proceedings of the 8th Conference on Computer Generated Forces and Behavioral Representation, Orlando, FL, 1999. [3] B. Grosz and S. Kraus. Collaborative plans for complex group action. Arti?cial Intelli gence, 86(2):269–357, 1996. [4] A. Ortony, G. L. Clore, and A. Collins. The Cognitive Structure of Emotions. Cambridge University Press, 1988. [5] R.W.PewandA.S.Mavor,editors. Modeling Human and Organizational Behavior. National Academy Press, Washington D.C., 1998.
Author: Jeschke Sabina
Publisher: Springer Science & Business Media
Published: 2011-11-29
Total Pages: 665
ISBN-13: 3642254853
DOWNLOAD EBOOKThe two volume set LNAI 7101 and LNAI 7102 constitutes the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.
Author: Noriako Ando
Publisher: Springer Science & Business Media
Published: 2010-11-05
Total Pages: 572
ISBN-13: 3642173187
DOWNLOAD EBOOKWhy are the many highly capable autonomous robots that have been promised for novel applications driven by society, industry, and research not available - day despite the tremendous progress in robotics science and systems achieved during the last decades? Unfortunately, steady improvements in speci?c robot abilities and robot hardware have not been matched by corresponding robot performance in real world environments. This is mainly due to the lack of - vancements in robot software that master the development of robotic systems of ever increasing complexity. In addition, fundamental open problems are still awaiting sound answers while the development of new robotics applications s- fersfromthelackofwidelyusedtools,libraries,andalgorithmsthataredesigned in a modular and performant manner with standardized interfaces. Simulation environments are playing a major role not only in reducing development time and cost, e. g. , by systematic software- or hardware-in-the-loop testing of robot performance, but also in exploring new types of robots and applications. H- ever,their use may still be regardedwith skepticism. Seamless migrationof code using robot simulators to real-world systems is still a rare circumstance, due to the complexity of robot, world, sensor, and actuator modeling. These challenges drive the quest for the next generation of methodologies and tools for robot development. The objective of the International Conference on Simulation, Modeling, and ProgrammingforAutonomous Robots (SIMPAR) is to o?er a unique forum for these topics and to bring together researchersfrom academia and industry to identify and solve the key issues necessary to ease the development of increasingly complex robot software.
