Trends in Control and Decision-Making for Human–Robot Collaboration Systems

✍ Scribed by Yue Wang, Fumin Zhang (eds.)

• Publisher: Springer International Publishing
• Year: 2017
• Tongue: English
• Leaves: 424
• Edition: 1
• Category: Library

✦ Synopsis

This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment.

The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering:

• one-human–one-robot collaboration;
  
• one-human–multiple-robot collaboration; and
  
• human–swarm collaboration.
  

Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book.

Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.

✦ Table of Contents

Front Matter....Pages i-xix
Introduction....Pages 1-13
Robust Shared-Control for Rear-Wheel Drive Cars....Pages 15-40
Baxter-On-Wheels (BOW): An Assistive Mobile Manipulator for Mobility Impaired Individuals....Pages 41-63
Switchings Between Trajectory Tracking and Force Minimization in Human–Robot Collaboration ....Pages 65-81
Estimating Human Intention During a Human–Robot Cooperative Task Based on the Internal Force Model....Pages 83-109
A Learning Algorithm to Select Consistent Reactions to Human Movements....Pages 111-130
Assistive Optimal Control-on-Request with Application in Standing Balance Therapy and Reinforcement....Pages 131-151
Intelligent Human–Robot Interaction Systems Using Reinforcement Learning and Neural Networks....Pages 153-176
Regret-Based Allocation of Autonomy in Shared Visual Detection for Human–Robot Collaborative Assembly in Manufacturing....Pages 177-205
Considering Human Behavior Uncertainty and Disagreements in Human–Robot Cooperative Manipulation....Pages 207-240
Designing the Robot Behavior for Safe Human–Robot Interactions....Pages 241-270
When Human Visual Performance Is Imperfect—How to Optimize the Collaboration Between One Human Operator and Multiple Field Robots....Pages 271-299
Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots ....Pages 301-324
A Passivity-Based Approach to Human–Swarm Collaboration and Passivity Analysis of Human Operators....Pages 325-355
Human–Swarm Interactions via Coverage of Time-Varying Densities....Pages 357-385
Co-design of Control and Scheduling for Human–Swarm Collaboration Systems Based on Mutual Trust....Pages 387-413
Back Matter....Pages 415-418

✦ Subjects

Control;Artificial Intelligence (incl. Robotics);Robotics and Automation