Advances in Human-Robot Interaction

✍ Scribed by Prof. Dr. Erwin Prassler, Dr. Andreas Stopp (auth.), Erwin Prassler, Gisbert Lawitzky, Andreas Stopp, Gerhard Grunwald, Martin Hägele, Rüdiger Dillmann, Ioannis Iossifidis (eds.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2005
• Tongue: English
• Leaves: 410
• Series: Springer Tracts in Advanced Robotics 14
• Edition: 1
• Category: Library

✦ Synopsis

"Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.

✦ Table of Contents

1 Multi-modal Robot Interfaces....Pages 5-7
Touch: The Intuitive Type of Human and Robot Interaction....Pages 9-21
Tactile Interaction between Human and Robot....Pages 23-34
Instructing a Robot Assistant through Speech and Gesture....Pages 35-46
Next Generation Teach Pendants for Industrial Robots....Pages 47-66
2 Perception, Interpretation and Interaction....Pages 67-68
Statistical Recognition of Motion Patterns....Pages 69-87
Recursive Agent Modeling with Probabilistic Velocity Obstacles for Mobile Robot Navigation among Humans....Pages 89-103
Extracting Subgoals from Fine Manipulation Tasks....Pages 105-116
3 Learning, Programming and Instructing....Pages 117-118
Mapping Complex Tasks to Robots: Programming by Demonstration in Real-World Environments....Pages 119-136
Interactive Learning Methods for Manufacturing Assistants....Pages 137-146
Learning Behavioral Sequences by Means of Nonlinear Dynamics....Pages 147-159
4 Co-existence: Physical Interaction and Coordinated Motion....Pages 161-163
Interactions with a Kinematic Redundant Robot while Balancing an Inverted Pendulum....Pages 165-179
Calculating Human Like Grasp Shapes: Pinch Grasps....Pages 181-194
Motion Planning for Domestic Robot Assistants....Pages 195-205
Coordinating the Motion of a Human and a Robot in a Crowded, Natural Environment....Pages 207-219
5 Safety and Dependability....Pages 221-222
Dependability of Mobile Robots in Direct Interaction with Humans....Pages 223-239
Safety Improvement by Fault Diagnosis and Fault Recovery for the Perceptual System of Mobile Robots....Pages 241-253
Toward Safe Human-Robot Co-Operation in Manufacturing....Pages 255-265
6 Architecture....Pages 267-268
Behavior Generation for Anthropomorphic Robots by means of Dynamical Systems....Pages 269-300
An Architecture for Interactive Robots based on Nonlinear Dynamics....Pages 301-320
The Control Architecture of Care-O-bot II....Pages 321-330
7 Systems and Applications....Pages 331-333
A Robot Assistant for Manufacturing: Interactive Teaching of Operation Sequences....Pages 335-345
Robot Assistants as Simple and Effective Tools in Manufacturing Environments....Pages 347-358
The Robotic Bar – An Integrated Demonstration of a Robotic Assistant....Pages 359-370
Robotic Home Assistant Care-O-bot II....Pages 371-384
A Cooperative Robotic Assistant for Human Environments....Pages 385-401
Towards Benchmarking of Domestic Robotic Assistants....Pages 403-414

✦ Subjects

Automation and Robotics; Control Engineering; Artificial Intelligence (incl. Robotics); Machinery and Machine Elements; Systems Theory, Control