Human-Friendly Robotics 2020 : 13th international workshop.

Description

Foreword Preface Contents Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots 1 Introduction 2 Related Works 3 Research Methodology 3.1 Modeling of 3D Vines and Robot Platform 3.2 Estimation of Potential Pruning Points (PPP) 3.3 Motion Planner 3.4 Natural Admittance Controller and Dynamics of Vines 4 Results and Discussion 5 Conclusions References Robotic Muscular Assistance-As-Needed for Physical and Training/Rehabilitation Tasks: Design and Experimental Validation of a Closed-Loop Myoelectric Control in Grounded and Wearable Applications 1 Introduction 2 Methods and Tools 2.1 Description of the sEMG-Based Control 2.2 Effort Compensation for Physical Tasks 2.3 Effort Generation for Training/Rehabilitation Tasks 3 Experiment 3.1 Experimental Case #1: Grounded Assistive Application 3.2 Experimental Case #2: Wearable Assistive Application 3.3 Selection of the Threshold Values 3.4 Conclusions References The I-Walk Assistive Robot 1 Introduction 2 Related Work 3 Design and Overall Architecture 4 User Needs and Clinical Use-Cases 5 User-Machine Interface 6 Multimodal Signal Acquisition and Processing 6.1 Visual Action and Gesture Recognition 6.2 Speech Understanding 6.3 Mobility Analysis 7 Navigation and Control 7.1 Path Planning and Following 7.2 Localization 7.3 User Following 7.4 Audial Assistance 8 Preliminary Experimental Results 9 Conclusion and Future Work References Toward a Cognitive Control Framework for Explainable Robotics 1 Introduction 2 System Design 2.1 Long Term Memory 2.2 Working Memory 2.3 Behavior-Based System 2.4 Shared Variables 2.5 Attentional Regulations and Contention Scheduling 3 Explainable Task Execution: An Industrial Scenario 3.1 Self-explaining Structure 3.2 Description of the Executing Tasks 3.3 Running Examples of Human-Robot Communication 4 Conclusions and Future Works References Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies 1 Introduction 2 Dynamic Field Theory 3 Model 3.1 Exploration 3.2 Exploitation 3.3 Balancing Exploration and Exploitation 4 Results 5 Conclusion and Discussion 6 Appendix References A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells 1 Introduction 2 Problem Statement 3 Task Assignment Layer 4 Dynamic Scheduler 5 Experiments 6 Conclusion and Future Works References Singularity Avoidance in Human-Robot Collaboration with Performance Constraints 1 Introduction 2 Performance Constraints for Singularity Avoidance 2.1 Calculation of Performance Constraints 2.2 Equivalent Stiffness and Damping Calculation for Critically Damped Behavior 2.3 Elastic Potential Energy of Performance Constraints 3 Experimental Evaluation 4 Conclusions References A Safety and Passivity Filter for Robot Teleoperation Systems 1 Introduction 2 Background 3 Safety and Passivity Filter 3.1 Ensuring Safety 3.2 Ensuring Passivity 3.3 Tracking of Desired Control Inputs 3.4 Safety- and Passivity-Preserving Controller Design 4 Simulation Results 5 Conclusions and Future Work References Modeling Human Motor Skills to Enhance Robots' Physical Interaction 1 Deriving a Basis of Human Movements 2 Planning Robots' Movements with fPCs 3 Learning from Humans How to Grasp: Enhancing the Reaching Strategy 3.1 Deep Classifier 3.2 Robotic Grasping Primitives References Careful with That! Observation of Human Movements to Estimate Objects Properties 1 Introduction and Background 1.1 Rationale 2 Experimental Setup 2.1 Sensors 3 Data Pre-processing 3.1 Dataset 4 Classifiers 4.1 Convolutional, Long-Short-Term-Memory and Deep Neural Network 4.2 Long-Short-Term-Memory and Deep Neural Network 5 Results 5.1 Carefulness Level 5.2 Weight 6 Discussion 7 Conclusions References Author Index