Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings

Description

This book constitutes the refereed proceedings of the 18th Annual Conference on Towards Autonomous Robotics, TAROS 2017, held in Guildford, UK, in July 2017. The 43 revised full papers presented together with 13 short papers were carefully reviewed and selected from 66 submissions. The papers discuss robotics research drawn from a wide and diverse range of topics, such as swarm and multi-robotic systems; human-robot interaction; robotic learning and imitation; robot navigation, planning and safety; humanoid and bio-inspired robots; mobile robots and vehicles; robot testing and design; detection and recognition; learning and adaptive behaviours; interaction; soft and reconfigurable robots; and service and industrial robots. Front Matter....Pages I-XIII Development of an Immersive Interface for Robot Teleoperation....Pages 1-15 Generalizing Movement Primitives to New Situations....Pages 16-31 Recovery of a Humanoid Robot from a Destabilising Impact....Pages 32-40 Using Robot Operating System (ROS) and Single Board Computer to Control Bioloid Robot Motion....Pages 41-50 Verification of Visibility-Based Properties on Multiple Moving Robots....Pages 51-65 Self-adaptive Context Aware Audio Localization for Robots Using Parallel Cerebellar Models....Pages 66-78 A Comparison of Analytical and Empirical Controllers for the SLIP Hopper....Pages 79-85 Design and Testing of a Parallel Manipulator for Space Micro-vibration Simulation....Pages 86-100 The Automated Box and Blocks Test an Autonomous Assessment Method of Gross Manual Dexterity in Stroke Rehabilitation....Pages 101-114 Combining Depth and Intensity Images to Produce Enhanced Object Detection for Use in a Robotic Colony....Pages 115-125 Investigation of Hardware-in-the-Loop Walking/Running Test with Spring Mass System....Pages 126-133 Surface Inspection via Hitting Sets and Multi-goal Motion Planning....Pages 134-149 Integrated and Adaptive Locomotion and Manipulation for Self-reconfigurable Robots....Pages 150-165 Risk-Based Triggering of Bio-inspired Self-preservation to Protect Robots from Threats....Pages 166-181 Shark-Inspired Target Approach Strategy for Foraging with Visual Clues....Pages 182-198 An Open-Source Tele-Operated Mobile Manipulator: CHAP V1....Pages 199-210 Local Real-Time Motion Planning Using Evolutionary Optimization....Pages 211-221 Towards Automated Strawberry Harvesting: Identifying the Picking Point....Pages 222-236 Evaluating the Capabilities of a Flight-Style Swarm AUV to Perform Emergent and Adaptive Behaviours....Pages 237-246 Reactive Virtual Forces for Heterogeneous and Homogeneous Swarm Exploration and Mapping....Pages 247-261 The Case for an Ethical Black Box....Pages 262-273 Robot Transparency: Improving Understanding of Intelligent Behaviour for Designers and Users....Pages 274-289 Children’s Age Influences Their Use of Biological and Mechanical Questions Towards a Humanoid....Pages 290-299 aMussels: Diving and Anchoring in a New Bio-inspired Under-Actuated Robot Class for Long-Term Environmental Exploration and Monitoring....Pages 300-314 Autonomous Vehicle Decision-Making: Should We Be Bio-inspired?....Pages 315-324 Homeostatic Robot Control Using Simple Neuromodulatory Techniques....Pages 325-339 Probabilistic Combination of Noisy Points and Planes for RGB-D Odometry....Pages 340-350 Low-Power and Low-Cost Stiffness-Variable Oesophageal Tissue Phantom....Pages 351-362 Soft Robotic Snake with Variable Stiffness Actuation....Pages 363-377 Model Identification of a 3 Finger Adaptive Robot Gripper by Using MATLAB SIT....Pages 378-392 Towards Fault Diagnosis in Robot Swarms: An Online Behaviour Characterisation Approach....Pages 393-407 Measuring the Effects of Communication Quality on Multi-robot Team Performance....Pages 408-420 Mechanism Selection for Multi-Robot Task Allocation....Pages 421-435 The Power of GMMs: Unsupervised Dirt Spot Detection for Industrial Floor Cleaning Robots....Pages 436-449 Autonomous Object Handover Using Wrist Tactile Information....Pages 450-463 A Flexible Component-Based Robot Control Architecture for Hormonal Modulation of Behaviour and Affect....Pages 464-474 Drivers’ Manoeuvre Classification for Safe HRI....Pages 475-483 From Vision to Grasping: Adapting Visual Networks....Pages 484-494 Design and Implementation of a Low Cost Prosthetic Hand....Pages 495-506 The Virtual Bee Hive....Pages 507-515 Strategies for Selecting Best Approach Direction for a Sweet-Pepper Harvesting Robot....Pages 516-525 Algorithmic Approach to Planar Void Detection and Validation in Point Clouds....Pages 526-539 Elastomeric Spring Actuator Using Nylon Wires....Pages 540-547 Characterization of Kinetic and Kinematic Parameters for Wearable Robotics....Pages 548-556 A Material-Based Model for the Simulation and Control of Soft Robot Actuator....Pages 557-569 A Robot Gripper with Sensor Skin....Pages 570-575 Robotics Education for Children at Secondary School Level and Above....Pages 576-585 Formal Method for Mission Controller Generation of a Mobile Robot....Pages 586-600 Towards Camera Based Navigation in 3D Maps by Synthesizing Depth Images....Pages 601-616 Real-World, Real-Time Robotic Grasping with Convolutional Neural Networks....Pages 617-626 3D Printed Sensorized Soft Robotic Manipulator Design....Pages 627-636 Reinforcement Learning for Bio-Inspired Target Seeking....Pages 637-650 Mobile Manipulators for Cooperative Transportation of Objects in Common....Pages 651-660 Navigation and Dynamic Control of Omnidirectional Platforms....Pages 661-672 Unified Dynamic Control of Omnidirectional Robots....Pages 673-685 Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments....Pages 686-702 Back Matter....Pages 703-705