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Elsevier

Household Service Robotics

  • 1 Edición - 5 de diciembre de 2014
  • Última edición
  • Autores: Yangsheng Xu, Huihuan Qian, Xinyu Wu
  • Idioma: Inglés

Copyright ©2015 Zhejiang University Press, Published by Elsevier Inc. Household Service Robotics is a collection of the latest technological advances in household service robot… Leer más

Descripción

Copyright ©2015 Zhejiang University Press, Published by Elsevier Inc.

Household Service Robotics is a collection of the latest technological advances in household service robotics in five main areas: robot systems, manipulation, navigation, object recognition, and human-robot interaction. The book enables readers to understand development s and apply them to their own working areas, including:

  • Robotic technologies for assisted living and elderly care
  • Domestic cleaning automation
  • Household surveillance
  • Guiding systems for public spaces

Service robotics is a highly multidisciplinary field, requiring a holistic approach. This handbook provides insights to the disciplines involved in the field as well as advanced methods and techniques that enable the scale-up of theory to actual systems. It includes coverage of functionalities such as vision systems, location control, and HCI, which are important in domestic settings.

Puntos claves

  • Provides a single source collection of the latest development in domestic robotic systems and control
  • Covers vision systems, location control, and HCI, important in domestic settings
  • Focuses on algorithms for object recognition, manipulation, human-robot interaction, and navigation for household robotics

De interès para

Engineers and researchers working on robotics, automation, control, computer vision and robotic systems development.

Índice

  • Preface
  • Part 1. Introduction
    • Chapter 1.1. Introduction
      • 1.1.1. Work Environments for Household Service Robots
      • 1.1.2. Functionalities of Household Service Robots
  • Part 2. Service Robotic System Design
    • Chapter 2.1. The State of the Art in Service Robotic System Design
      • 2.1.1. Stationary Service Robotic Systems
      • 2.1.2. Attached Mobile Service Robotic Systems
      • 2.1.3. Mobile Household Service Robotic Systems
      • 2.1.4. Summary of Case Studies
    • Chapter 2.2. Surveillance Robot Utilizing Video and Audio Information
      • 2.2.1. Introduction
      • 2.2.2. System Initialization
      • 2.2.3. Video Surveillance
      • 2.2.4. Abnormal Audio Information Detection
      • 2.2.5. Experimental Results Utilizing Video and Audio Information
      • 2.2.6. Conclusions
    • Chapter 2.3. Robot-Assisted Wayfinding for the Visually Impaired in Structured Indoor Environments
      • 2.3.1. Introduction
      • 2.3.2. An Ontology of Environments
      • 2.3.3. RG-I: A Robotic Guide
      • 2.3.4. Wayfinding
      • 2.3.5. Pilot Experiments
      • 2.3.6. Conclusions
    • Chapter 2.4. Design and Implementation of a Service Robot for Elders
      • 2.4.1. Introduction
      • 2.4.2. Robot System
      • 2.4.3. Human–Robot Interaction
      • 2.4.4. Experiments
      • 2.4.5. Conclusion
    • Chapter 2.5. A Household Service Robot with a Cellphone Interface
      • 2.5.1. Introduction
      • 2.5.2. System Architecture
      • 2.5.3. Grasping Algorithm
      • 2.5.4. Solving Subproblem 1
      • 2.5.5. Solving Subproblem 2
      • 2.5.6. Experiments
      • 2.5.7. Conclusion and Future Work
  • Part 3. Mapping and Navigation
    • Chapter 3.1. The State of the Art in Mapping and Navigation for Household Service
      • 3.1.1. Map Building and Localization
      • 3.1.2. Navigation, Path Planning, and Obstacle Avoidance
      • 3.1.3. Summary of Case Studies
    • Chapter 3.2. An Error-Aware Incremental Planar Motion Estimation Method Using Paired Vertical Lines for Small Robots in Urban Areas
      • 3.2.1. Introduction
      • 3.2.2. Related Studies
      • 3.2.3. Problem Definition
      • 3.2.4. Deriving a Minimum Solution with a Single Vertical Line Pair
      • 3.2.5. Error-Aware Ego-Motion Estimation Using Multiple Vertical Line Pairs
      • 3.2.6. Algorithms
      • 3.2.7. Experiments
      • 3.2.8. Conclusion and Future Work
    • Chapter 3.3. Planning and Obstacle Avoidance in Mobile Robotics
      • 3.3.1. Introduction
      • 3.3.2. Related Work
      • 3.3.3. Navigation Architecture
      • 3.3.4. Roaming Trails
      • 3.3.5. Experimental Results
      • 3.3.6. Conclusions
    • Chapter 3.4. Monocular SLAM with Undelayed Initialization for an Indoor Robot
      • 3.4.1. Introduction
      • 3.4.2. EKF Framework
      • 3.4.3. Implementation of SLAM
      • 3.4.4. Simulation and Experiment
      • 3.4.5. Conclusions and Future Work
      • Appendix Supplementary Data
    • Chapter 3.5. Human-Centered Robot Navigation-Towards a Harmoniously Human—Robot Coexisting Environment
      • 3.5.1. Introduction
      • 3.5.2. Harmonious Rules
      • 3.5.3. Various Sensitive Fields
      • 3.5.4. Human-Centered Sensitive Navigation System Architecture
      • 3.5.5. Human-Centered Sensitive Navigation
      • 3.5.6. Simulations
      • 3.5.7. Experimental Results
      • 3.5.8. Conclusion and Future Work
  • Part 4. Object Recognition
    • Chapter 4.1. The State of the Art in Object Recognition for Household Services
      • 4.1.1. Overview
      • 4.1.2. Summary of Case Studies
    • Chapter 4.2. A Side of Data with My Robot
      • 4.2.1. Related Work
      • 4.2.2. Contents and Collection Methodology
      • 4.2.3. Contents: Robot Sensor Data
      • 4.2.4. Annotations and Annotation Methodology
      • 4.2.5. Annotation Methodology
      • 4.2.6. Applications
      • 4.2.7. Future Work
      • 4.2.8. Related Work
      • 4.2.9. Contents and Collection Methodology
      • 4.2.10. Annotations and Annotation Methodology
      • 4.2.11. Applications
      • 4.2.12. Future Work
      • 4.2.13. Related Work
      • 4.2.14. Contents and Collection Methodology
      • 4.2.15. Annotations and Annotation Methodology
      • 4.2.16. Applications
    • Chapter 4.3. Robust Recognition of Planar Mirrored Walls
      • 4.3.1. Introduction
      • 4.3.2. Related Work
      • 4.3.3. Problem Definition
      • 4.3.4. Modeling
      • 4.3.5. Algorithm
      • 4.3.6. Experiments
      • 4.3.7. Conclusion and Future Work
    • Chapter 4.4. Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
      • 4.4.1. Introduction
      • 4.4.2. Datasets and Performance Metrics
      • 4.4.3. Lowe's SIFT
      • 4.4.4. Vocabulary Tree Method
      • 4.4.5. Viola–Jones Boosting
      • 4.4.6. Discussion
      • 4.4.7. Conclusions
  • Part 5. Grasping and Manipulation
    • Chapter 5.1. The State of the Art in Grasping and Manipulation for Household Service
      • 5.1.1. Target Detection
      • 5.1.2. Planning
      • 5.1.3. Control
      • 5.1.4. Summary of Case Studies
    • Chapter 5.2. A Geometric Approach to Robotic Laundry Folding
      • 5.2.1. Introduction
      • 5.2.2. Related Work
      • 5.2.3. Problem Description
      • 5.2.4. Fold Execution
      • 5.2.5. Determining the Cloth Polygon
      • 5.2.6. Experimental Results
      • 5.2.7. Conclusion and Future Work
      • Funding
      • Appendix A: Proof of Theorem 1
      • Appendix B: Shape Models Used
      • Appendix C: Black Box Numerical Optimization
    • Chapter 5.3. Robust Visual Servoing
      • 5.3.1. Introduction
      • 5.3.2. Motivation
      • 5.3.3. Detection and Pose Estimation
      • 5.3.4. Transportation: Coarse Visual Servoing
      • 5.3.5. Model-Based Visual Servoing
      • 5.3.6. Example Tasks
      • 5.3.7. Conclusion
    • Chapter 5.4. Implementation of Cognitive Controls for Robots
      • 5.4.1. Introduction
      • 5.4.2. Cognitive Control for Robots
      • 5.4.3. The Working Memory System
      • 5.4.4. The Role of CEA and FRA for Task Switching
      • 5.4.5. Self-Motivated, Internal State-Based Action Selection Mechanism
      • 5.4.6. Future Plans
      • 5.4.7. Conclusions
      • Appendix 1. Spatial Attention and Action Selection
      • Appendix 2. Verbs and Adverbs for Behavior Execution
      • Appendix 3. Memory Contents during Work Memory Training
      • Appendix 4. Perception Encoding Used in FRA Experiment
  • Part 6. Human–Robot Interaction
    • Chapter 6.1. The State of the Art in Human—Robot Interaction for Household Services
      • 6.1.1. Tactile HRI Systems
      • 6.1.2. Summary of Case Studies
    • Chapter 6.2. Evaluating the Robot Personality and Verbal Behavior of Domestic Robots Using Video-Based Studies
      • 6.2.1. Introduction
      • 6.2.2. VHRI Methodology
      • 6.2.3. Experiments
      • 6.2.4. Results
      • 6.2.5. Discussion
      • 6.2.6. Conclusions
    • Chapter 6.3. Using Socially Assistive Human–Robot Interaction to Motivate Physical Exercise for Older Adults
      • 6.3.1. Introduction
      • 6.3.2. Related Work
      • 6.3.3. SAR Approach
      • 6.3.4. Robot Exercise System
      • 6.3.5. Motivation Study I: Praise and Relational Discourse Effects
      • 6.3.6. Motivation Study II: User Choice and Self-Determination
      • 6.3.7. Conclusion
    • Chapter 6.4. Toward a Human–Robot Symbiotic System
      • 6.4.1. Introduction
      • 6.4.2. Framework for Human–Humanoid Interaction
      • 6.4.3. Robot Memory Data Structures
      • 6.4.4. Current Applications
      • 6.4.5. Conclusion
  • Index

Detalles del producto

  • Edición: 1
  • Última edición
  • Publicado: 5 de diciembre de 2014
  • Idioma: Inglés

Sobre los autores

YX

Yangsheng Xu

Professor, Chinese University of Hong Kong
Afiliaciones y experiencia
Professor, Chinese University of Hong Kong

HQ

Huihuan Qian

Chinese University of Hong Kong
Afiliaciones y experiencia
Chinese University of Hong Kong

XW

Xinyu Wu

Shenzhen Institute of Advanced Technology
Afiliaciones y experiencia
Shenzhen Institute of Advanced Technology

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