Advances in Service and Industrial Robotics: RAAD 2023

Description

This book presents the proceedings of the 32nd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), held in Bled, Slovenia, June 14-16, 2023. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments. Preface Organization Contents Perception and Learning A Lightweight Method for Detecting Dynamic Target Occlusions by the Robot Body 1 Introduction 2 Methodology 2.1 Rendering the Virtual Depth Image 2.2 Occlusion Detection and Handling 3 Experimental Evaluation 3.1 Pose Estimation of a Moving Target Object for Pickup 3.2 Human Pose Estimation for Robot Handover 4 Conclusions References Probabilistic Online Robot Learning via Teleoperated Demonstrations for Remote Elderly Care 1 Introduction 2 Method Design 3 Human Factors Experiment 3.1 Experiment Setup 3.2 Results 4 Discussion References Exploring the Potential and Challenges of Reinforcement Learning for Object Pushing with Robots 1 Introduction 2 Methodology 2.1 Simulation Environment 2.2 Reinforcement Learning Algorithms 2.3 Hardware 2.4 Robot Control 2.5 Agent Learning and Testing on the Robot 3 Results 3.1 Playing Air Hockey in Simulation 3.2 Pushing Objects 4 Discussion 5 Conclusion and Future Work References In-Hand Pose Refinement Based on Contact Point Information 1 Introduction 2 Problem Formulation 3 In-Hand Pose Estimation 3.1 Correspondence Generation 3.2 Robust Pose Estimation 4 Evaluation 5 Conclusion References Explainable Object Detection in the Field of Search and Rescue Robotics 1 Introduction 2 State of the Art 3 Materials and Methods 4 Results 5 Summary and Outlook References Optimal Camera Placement for Maximized Motion Capture Volume and Marker Visibility 1 Introduction 2 Optimization of Camera Poses 3 Camera Alignment 4 Results 5 Conclusion References Teaching Humanoid Robot Reaching Motion by Imitation and Reinforcement Learning 1 Introduction 2 Methodology 2.1 Transfer of Human to Humanoid Robot Motion 2.2 Maintaining Stability with LIPM Based Control 2.3 Motion Improvement by Reinforcement Learning 3 Results 3.1 Learning in a Simulated Environment 3.2 Refinement of the Trajectory Learnt in Simulation 4 Conclusions References Deep Learning Prediction Models for the Detection of Cyber-Attacks on Image Sequences 1 Introduction 2 Explored DNN Based Models 3 Experimental Results 3.1 Experimental Setup and Data Acquisition 3.2 Experimental Results 4 Conclusion References Collaborative Robotics Variable Stiffness Joint Based on Pneumatic Relocation Mechanism 1 Introduction 2 System Description 2.1 Overview 2.2 Mathematical Model 3 Experimental Evaluation 4 Results and Discussion 4.1 Results 4.2 Discussion 5 Conclusion References Collision Avoidance in Collaborative Robotics Based on Real-Time Skeleton Tracking 1 Introduction 2 Skeleton Detection Algorithm 2.1 Artificial Intelligence for Skeleton Detection 3 Experimental Tests 4 Results 5 Conclusions References Application of a Phase State System for Physical Human-Humanoid Robot Collaboration 1 Introduction 2 The SHC Networks 3 The Application of the PSS Guided by the SHC Networks to a Humanoid Robot 3.1 Implementation 3.2 Results 4 Discussion and Conclusions References Input-Observer-Based Estimation of the External Torque for Single-Link Flexible-Joint Robots 1 Introduction 2 System Model and Problem Statement 3 The Proposed External Torque Estimator for Variable Stiffness Actuator 3.1 The Delayed Unknown Input Observer 3.2 Reconstruction of Elastic Torques 3.3 Estimation of the External Torque 4 Simulation Results 5 Conclusion References A Multi-feature Augmented Reality-Based Robot Control 1 Introduction 2 Augmented Reality in Robotics 3 Structure of the System 4 Human-Robot-Interface Layout 5 Conclusion References Use Case Driven Active Teaching in Robotics for Education and Continuous Professional Development Through a 6-DOF Open-Source Robotics Platform 1 Introduction 2 Related Work 3 INNOBOT Platform 4 Active Teaching with INNOBOT 4.1 Pick and Place Use Case 5 Conclusion References Impact of Robot Related User Pre-experience on Cognitive Load, Trust, Trustworthiness and Satisfaction with VR Interfaces 1 Introduction 2 Methods 2.1 Experimental Procedure 2.2 Robot Presentation 2.3 VR Interface 2.4 Participants Demographics and Ethical Statement 2.5 Measures 3 Results 3.1 Effects of Pre-Experience 3.2 Correlations 4 Discussion 5 Conclusion References Physical Education Exercises Validation Through Child-Humanoid Robot Interaction 1 Introduction 2 Materials and Methods 2.1 Experimental Design 2.2 Robot Pepper 2.3 The Imitation Process 2.4 Human Pose Estimation and Evaluation of the Quality of the Realized Movement 3 Results 4 Discussion and Further Works References A Singularity-Free Approach for Safe Operation of a Parallel Robot for Lower Limb Rehabilitation 1 Introduction 2 Lower Limb Rehabilitation Task 3 RAISE-Parallel Robot for Lower Limb Rehabilitation 4 Singularity Analysis 5 Conclusions References Blood Serum Recognition Method for Robotic Aliquoting Using Different Versions of the YOLO Neural Network 1 Introduction 2 Structure of the Aliquoting Process Management System 3 Structure and Method of Training the YOLO Neural Network 4 Speech Recognition Results and Comparative Analysis 5 Algorithm for Determining the Levels of Media Boundaries 6 Conclusion References Mobile Robotics and Localisation Scenario Concatenation for Vehicle Testing by Solving a Vehicle Routing Problem with Skill and Temporal Synchronization Constraints 1 Introduction 2 State-of-the-Art 3 Toolchain 3.1 Step 1: Data Representation 3.2 Step 2: Optimal Allocation Graph 3.3 Step 3 - Model of VRPSS and Strategy to Solve the VRPSS 4 Toolchain Example 5 Results 6 Conclusions and Outlook References Gaining Insights into a Robot Localization Monitor Using Explainable Artificial Intelligence 1 Introduction 2 Related Research 2.1 Robot Localization Monitoring 2.2 Explainable Artificial Intelligence 3 Robot Localization Monitor 4 Gaining Insights into the Localization Monitor 5 Conclusion References LiDAR-Based Scene Understanding for Navigation in Unstructured Environments 1 Introduction 2 Proposed Method 2.1 Point Cloud Segmentation 2.2 Correction of Negative Obstacles 2.3 Creating the Local Occupancy Map 3 Evaluation and Analysis 4 Conclusion References Understanding Why SLAM Algorithms Fail in Modern Indoor Environments 1 Introduction 2 Related Work 3 Method 3.1 Hardware Platforms 3.2 SLAM Algorithms 3.3 Environment and Data Collection 3.4 Metrics 4 Results 4.1 Lidar-Based and Visual-Based SLAM Techniques 5 Conclusion References Probabilistic Fusion of Surface and Underwater Maps in a Shallow Water Environment 1 Introduction 2 Related Work 3 Methodology 3.1 Underwater Detection 3.2 Surface Water Detection 3.3 Fused Mapping 4 Experimentation and Results 5 Conclusion References Effective Visual Content of eHMI for Autonomous Vehicles in Pedestrian Zones 1 Introduction 2 System and Approach 2.1 Physical Layer 2.2 Logical Layer 2.3 System Interface Layer 3 Methodology 3.1 Participants 3.2 Questionnaire 4 Results References Medical Robotics A Novel Intraoperative Force Estimation Method via Electrical Bioimpedance Sensing 1 Introduction 2 Methodology 3 Experimental Setup 4 Data Analysis 5 Results 6 Discussion and Conclusion References Remote Center of Motion Based on Null Space and Virtual Joints in a Surgical Robotics Research Platform 1 Introduction 2 Research Platform 3 Remote Center of Motion 4 Evaluation 5 Conclusion References A Handheld Forceps-Like Tracker for Learning Robotic Surgical Tasks from Demonstration 1 Introduction 2 Materials and Methods 2.1 Handheld Trajectory Tracker 2.2 Robotic Platform 2.3 Proposed System Overview 2.4 Encoding Demonstrated Motions 3 Experimental Evaluation 3.1 Comparison with Teleoperated Demonstrations 3.2 Integration into a Learning from Demonstration Framework 4 Discussion 5 Conclusion References An Approach for Combining Transparency and Motion Assistance of a Lower Body Exoskeleton 1 Introduction 2 Setup 3 Transparency 4 Motion Assistance 4.1 Learning of Periodic Signals 4.2 Assistive Torque 5 Experimental Results 6 Conclusion References On the Stiffness Modelling of the ProHep-LCT Robotic Needle Insertion Instrument 1 Introduction 2 The ProHep-LCT Robotic System for HCC Treatment 3 NID Experimental Stiffness Evaluation 4 Stiffness Modelling of the Needle Insertion Device 5 Conclusions References Kinematics and Dynamics Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation 1 Introduction 2 Robot Error Modelling 2.1 Kinematic Errors 2.2 Non-kinematic Errors 3 Estimation 4 Analysis in Simulation Environment 4.1 Results 5 Conclusion References Dynamically Isotropic Gough-Stewart Platform Design Using a Pair of Triangles 1 Introduction 2 Formulation 3 Design of Dynamically Isotropic MGSP 4 Observation 5 Validation 6 Conclusion References Inverse and Direct Kinematics of a Modified Stewart-Gough Platform 1 Introduction 2 Stewart - Gough Platform Direct and Inverse Kinematics Calculation 3 Hexapod with Modified Cardan Joints Direct and Inverse Kinematics Calculation 4 Direct Hexapod Kinematics 5 Inverse Hexapod Kinematics 6 Hexapod Calibration 7 Results 8 Conclusion References UR10e Robot Drift Compensation for Precision Measurement Applications 1 Introduction 2 Methodology 3 Data Acquisition – Robot Drift Diagnostics 4 Results and Discussion 5 Conclusion References Robot’s Cartesian Stiffness Adjustment Through the Stiffness Ellipsoid Shaping 1 Introduction 2 EE Cartesian Stiffness Modelling 3 EE Stiffness Ellipsoid Shaping 4 Simulation Results 5 Conclusion and Discussion References Analysis of Higher- Order Kinematics on Multibody Systems with Nilpotent Algebra 1 Introduction 2 Higher-Order Kinematics of Rigid Body 3 Mathematical Preliminaries of Nilpotent Algebra 3.1 Dual Vectors in Nilpotent Algebra 3.2 Euclidean Tensors in Nilpotent Algebra 3.3 Differential Transform with Nilpotent Algebra 4 Higher-Order Kinematics of Multibody Systems 5 Conclusions References Motion Planning and Control An Experimental Setup to Test Time-Jerk Optimal Trajectories for Robotic Manipulators 1 Introduction 2 Time-Jerk Optimal Trajectories 3 Experimental Setup 4 Experimental Results 5 Conclusions References A Force-Based Formation Synthesis Approach for the Cooperative Transportation of Objects 1 Introduction 2 Problem Description 3 Force-Based Formation Synthesis 4 Experimental Results 5 Conclusions References Center of Mass Wrench Constraints in Presence of Spatially Distributed Contacts 1 Introduction 2 Motion Constraints 2.1 First Case 2.2 Second Case 2.3 Shifted WCM 3 Simulation Results 4 Conclusions and Open Questions References Modification and Optimization of the Trajectory of an Industrial Robot to Scan a 3D-Surface for Quality Inspection 1 Introduction 1.1 Motivation and Problem Definition 1.2 State of the Art 2 Proposed Approach 2.1 Defining the Environment 2.2 Focus Measure 2.3 Objective Function for Optimizing the Robot Trajectory 3 Simulations 4 Experimental Work 5 Discussion 6 Conclusion References A Parameter-Linear Formulation of the Optimal Path Following Problem for Robotic Manipulator 1 Introduction 2 Optimal Path Following Problem Formulation 3 Parameter-Linear Reformulation 3.1 Piecewise-Polynomial Approach 3.2 B-Spline Approach 4 Numerical Example 4.1 Smooth Trajectory Planning 4.2 Computational Times of Proposed vs Conventional Approach 5 Conclusion and Outlook References Wind Aware Planning Using the Introduced RRT*-line Algorithm 1 Introduction 2 Rapidly-exploring Random Trees -Line (RRT*-line) 3 Wind Aware Cost Functions 4 Experimental Results 5 Conclusion References An Encoder-Decoder Architecture for Smooth Motion Generation 1 Introduction 2 Experimental Setup and Definition of the Problem 3 Learning Architecture 3.1 Architecture with PB-Decoder 3.2 Architecture with MC-Decoder 3.3 Probabilistic Dynamic Movement Primitives (ProDMPs) 4 Training and Experimental Protocol 5 Results 6 Conclusion References Cloth Flattening with Vision-to-Motion Skill Model 1 Introduction 2 Dataset 3 DNN Architecture for Vision-to-motion Skill Encoding 3.1 Performance 4 Discussion 5 Conclusion References Motion Planning Through Model Inversion for a Gantry Crane Moving a Double Pendulum 1 Introduction 2 Model of the System 3 Motion Planning Through Dynamic Inversion 4 Numerical Application 5 Conclusions 6 Fundings References Fixed Point Iteration-Based Adaptive Control Improved with Parameter Identification 1 Introduction 2 Proposed Parameter Identification Method 3 Simulation Results and Conclusion References Service Robotics Navigation of a Mobile Platform in a Greenhouse 1 Introduction 2 Greenhouse Layout 3 Design of the Mobile Platform 3.1 The Platform Chassis 3.2 The Drive System 3.3 The Sensory System 4 Kinematic Model 5 Navigation System 5.1 Depth Image Processing 5.2 Point Cloud Registration 5.3 Movement Planning 6 Testing and Findings 6.1 Testing the Vision System 6.2 Movement Testing 7 Conclusion References Implementation and Testing of a Shoe Polishing Process with a Collaborative Robotic System 1 Introduction 2 Polishing Process for Leather Shoes 3 Implementation of the Process on a Collaborative Robot 4 Experimental Tests and Results 5 Conclusions References Road Curb Detection: ADAS for a Road Sweeper Vehicle 1 Introduction 2 Dataset Collected with the Lynx Utility Vehicle 3 Road Curb Detection 3.1 Vision-Based Curb Detection 3.2 LiDAR-Based Curb Detection 4 Camera-LiDAR Calibration Method 5 Conclusion References Adaptive Robotic Levering for Recycling Tasks 1 Introduction 2 Methodology 2.1 Levering Setup 2.2 Fulcrum and Part Contact Point Search Algorithm 2.3 Adaptive Levering Algorithm 2.4 Levering After Adaptation 3 Experimental Evaluation 4 Conclusion and Further Work References Robotic Assembly of a Wooden Architectural Design 1 Introduction 2 Project Aim 3 Architectural Design 4 Robotic Simulation and Control 4.1 Robotic Cell Setup 4.2 Program Structure 5 Results 6 Conclusions References Assistance Systems for Construction Site Safety: Revealing Static Forces for Deconstruction Processes 1 Introduction 2 Related Work 3 System Description 3.1 System Component 3.2 Method 3.3 Creation of the Reachability Map 3.4 Determining the Static Forces 4 Experimental Evaluation 4.1 The Evaluation of the Reachability Map 4.2 Verifying the Force Values 5 Outlook References A Fruit Detection Algorithm for a Plum Harvesting Robot Based on Improved YOLOv7 1 Introduction 2 Materials and Methods 2.1 Image Acquisition 2.2 Dataset Preprocessing 2.3 Model Architecture 3 Results 4 Conclusion References Innovative Robots Design Efficient Robot Hopping Mechanisms with Compliance Using Evolutionary Methods 1 Introduction 2 Design: Simulation and Hardware 2.1 Leg Parameters 2.2 Simulation Platform 2.3 Experimental Setup 3 Control Strategy, Optimization Objective and Training 3.1 Control Strategy 3.2 Data-Driven Evolutionary Optimization for Training Parameters 3.3 Training Parameters 4 Results and Discussion 4.1 Simulation Results and Analysis 4.2 Experimental Results and Analysis 5 Conclusion References The Effect of Deformation on Robot Shape - Changing Link 1 Introduction 2 Material and Methods 2.1 Description of the Shape - Changing Link Without LMPM Core and Deformation Region Boundary Curves 2.2 FEA of the Shape - Changing Link Without LMPM 2.3 Force and Torque Measurement in Shape - Changing Link Without LMPM 2.4 Measuring the Efeect of Equivalent Stress on Shape - Changing Link with LMPM 3 Results 3.1 FEA Results 3.2 Results of Force and Torque Measurements 3.3 Results of the Effect of Equivalent Stress on the LMPM Core 4 Conclusions References Prototyping of Robot Harvester for Plum Farmyards – Mechanical Design 1 Introduction 1.1 Technical Requirements 2 State of the Art 3 Concept Design 4 Cartesian Robot – 3D Space Positioner 5 Telescopic Arm – Approach to the Target Point 6 Gentle Gripper 7 Operation Principle 8 Conclusion References Comparison of Some Mechanical Amplifiers for Micro-robotic Devices 1 Introduction 2 Related Research 2.1 Structures of Mechanical Amplifiers 2.2 Characteristics and Performance Specifications 2.3 Materials and Design Consideration 3 Comparison of Selected Structures 4 Conclusion References Robotics and Reconfigurable Mechanisms in Architecture Towards the Synthesis and Control of Reconfigurable Buildings 1 Introduction 2 Reconfigurable Building Structure and Control 2.1 Building Structure 2.2 Control Concept 2.3 Motion Planning Considerations 3 Simulation and Experimental Studies 3.1 The Experimental Setup 3.2 Reconfiguration Control Sequences 3.3 Simulation and Experimental Study 4 Conclusions References Author Index