Download or read book Bimanual Robot Skills MP Encoding Dimensionality Reduction and Reinforcement Learning written by Adrià Colomé Figueras and published by . This book was released on 2018 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in Artificial Intelligence (AI), have allowed robots to start sharing spaces with humans. Such situations require, aside from ethical considerations, robots to be able to move with both compliance and precision, and learn at different levels, such as perception, planning, and motion, being the latter the focus of this work. The first issue addressed in this thesis is inverse kinematics for redundant robot manipulators, i.e: positioning the robot joints so as to reach a certain end-effector pose. We opt for iterative solutions based on the inversion of the kinematic Jacobian of a robot, and propose to filter and limit the gains in the spectral domain, while also unifying such approach with a continuous, multipriority scheme. Such inverse kinematics method is then used to derive manipulability in the whole workspace of an antropomorphic arm, and the coordination of two arms is subsequently optimized by finding their best relative positioning. Having solved the kinematic issues, a robot learning within a human environment needs to move compliantly, with limited amount of force, in order not to harm any humans or cause any damage, while being as precise as possible. Therefore, we developed two dynamic models for the same redundant arm we had analysed kinematically: The first based on local models with Gaussian projections, and the second characterizing the most problematic term of the dynamics, namely friction. Such models allowed us to implement feed-forward controllers, where we can actively change the weights in the compliance-precision tradeoff. Moreover, we used such models to predict external forces acting on the robot, without the use of force sensors. Afterwards, we noticed that bimanual robots must coordinate their components (or limbs) and be able to adapt to new situations with ease. Over the last decade, a number of successful applications for learning robot motion tasks have been published. However, due to the complexity of a complete system including all the required elements, most of these applications involve only simple robots with a large number of high-end technology sensors, or consist of very simple and controlled tasks. Using our previous framework for kinematics and control, we relied on two types of movement primitives to encapsulate robot motion. Such movement primitives are very suitable for using reinforcement learning. In particular, we used direct policy search, which uses the motion parametrization as the policy itself. In order to improve the learning speed in real robot applications, we generalized a policy search algorithm to give some importance to samples yielding a bad result, and we paid special attention to the dimensionality of the motion parametrization. We reduced such dimensionality with linear methods, using the rewards obtained through motion repetition and execution. We tested such framework in a bimanual task performed by two antropomorphic arms, such as the folding of garments, showing how a reduced dimensionality can provide qualitative information about robot couplings and help to speed up the learning of tasks when robot motion executions are costly.

Download or read book Reinforcement Learning of Bimanual Robot Skills written by Adrià Colomé and published by Springer Nature. This book was released on 2019-08-27 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book tackles all the stages and mechanisms involved in the learning of manipulation tasks by bimanual robots in unstructured settings, as it can be the task of folding clothes. The first part describes how to build an integrated system, capable of properly handling the kinematics and dynamics of the robot along the learning process. It proposes practical enhancements to closed-loop inverse kinematics for redundant robots, a procedure to position the two arms to maximize workspace manipulability, and a dynamic model together with a disturbance observer to achieve compliant control and safe robot behavior. In the second part, methods for robot motion learning based on movement primitives and direct policy search algorithms are presented. To improve sampling efficiency and accelerate learning without deteriorating solution quality, techniques for dimensionality reduction, for exploiting low-performing samples, and for contextualization and adaptability to changing situations are proposed. In sum, the reader will find in this comprehensive exposition the relevant knowledge in different areas required to build a complete framework for model-free, compliant, coordinated robot motion learning.

Download or read book Using Symmetries in Reinforcement Learning of Bimanual Robotic Tasks written by Fabio Amadio and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The learning of bimanual robotic tasks, i.e., tasks executed by two manipulators together, can be particularly important in the new scenarios opened by the rise of humanoid robotics, one of the most interesting trend currently in the field. The work presented wants to build a method to simplify the dimensionality of parameter space in this particular context, exploiting the presence of symmetries between the movements executed by the two arms. The aim is to develop a reduced-order representation of the bimanual motion, with the purpose of increase the speed of learning process. In chapter 1, kinematics of the used robots is studied, in order to know how to correctly command the position of the robots while executing a task. Robotic movements are then modeled using Probabilistic Movement Primitives (ProMPs), a stochastic interpretation of robot movements (details in chapter 2). The first objective is to develop a symmetrization method for those kind of policies, and this part is treated in chapter 3. This will give the chance of representing the movement of two robotic arms, with only a single ProMP (instead of two, one for each arm), from which obtain the second policy applying symmetrization. In this way the amount of parameters representing motion can be halved. The most common kind of symmetry is the one defined by a plane, but also other cases can be explored, e.g., spherical or cylindrical symmetry. If the symmetry surface is not explicitly given in the bimanual task description, it is critical to have a reliable method to estimate it in order to exploit it in the learning process. In chapter 4 it is reported a way to obtain this estimation of the parameters describing the symmetry surface from the initially demonstrated trajectories. Finally, in chapter 5 it is defined a symmetric policy representation for bimanual task, that depends only on a single ProMP and a symmetry surface. The effectiveness of this parameter reduction has been tested applying it in reinforcement learning of some tasks, in comparison to the results obtained by the standard way of proceeding, that model the bimanual task with two separated ProMPs, one for each robotic arm.

Download or read book An Algorithmic Perspective on Imitation Learning written by Takayuki Osa and published by . This book was released on 2018-03-27 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Familiarizes machine learning experts with imitation learning, statistical supervised learning theory, and reinforcement learning. It also roboticists and experts in applied artificial intelligence with a broader appreciation for the frameworks and tools available for imitation learning.

Download or read book A Roadmap for Cognitive Development in Humanoid Robots written by David Vernon and published by Springer Science & Business Media. This book was released on 2011-12-28 with total page 233 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the central role played by development in cognition. The focus is on applying our knowledge of development in natural cognitive systems, specifically human infants, to the problem of creating artificial cognitive systems in the guise of humanoid robots. The approach is founded on the three-fold premise that (a) cognition is the process by which an autonomous self-governing agent acts effectively in the world in which it is embedded, (b) the dual purpose of cognition is to increase the agent's repertoire of effective actions and its power to anticipate the need for future actions and their outcomes, and (c) development plays an essential role in the realization of these cognitive capabilities. Our goal in this book is to identify the key design principles for cognitive development. We do this by bringing together insights from four areas: enactive cognitive science, developmental psychology, neurophysiology, and computational modelling. This results in roadmap comprising a set of forty-three guidelines for the design of a cognitive architecture and its deployment in a humanoid robot. The book includes a case study based on the iCub, an open-systems humanoid robot which has been designed specifically as a common platform for research on embodied cognitive systems .

Download or read book Surgical Robotics written by Jacob Rosen and published by Springer Science & Business Media. This book was released on 2011-01-15 with total page 827 pages. Available in PDF, EPUB and Kindle. Book excerpt: Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.

Download or read book Frames of Reference for Pediatric Occupational Therapy written by Paula Kramer and published by Lippincott Williams & Wilkins. This book was released on 2018-12-07 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: Publisher's Note: Products purchased from 3rd Party sellers are not guaranteed by the Publisher for quality, authenticity, or access to any online entitlements included with the product. Frames of Reference for Pediatric Occupational Therapy, Fourth Edition, uses frames of reference for diagnostic categories (neuro-development, social participation, etc.) as effective blueprints for applying theory to pediatric OT practice. Updated with new chapters, case examples, and a new focus on evidence-based practice. This proven approach helps students understand the “why” of each frame of reference before moving on to the “how” of creating effective treatment programs to help pediatric clients lead richer, fuller lives. The book first covers the foundations of frames reference for pediatric OT (Section I), and then covers commonly used frames of reference such as motor skill acquisition, biomechanical, and sensory integration (Section II). A final section discusses newer focused/specific frames of reference like handwriting skills and social participation. A standardized format within each frame of reference chapter covers the same elements (Theoretical Base, Supporting Evidence, the Function/Dysfunction Continuum, Guide to Evaluation, and Application to Practice) to help students build the knowledge and skills needed for effective practice.

Download or read book Grasping in Robotics written by Giuseppe Carbone and published by Springer Science & Business Media. This book was released on 2012-11-15 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.

Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Download or read book Humanoid Robotics A Reference written by Prahlad Vadakkepat and published by Springer. This book was released on 2017-02-14 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Download or read book Robot Programming by Demonstration written by Sylvain Calinon and published by EPFL Press. This book was released on 2009-08-24 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.

Download or read book The Promise of Assistive Technology to Enhance Activity and Work Participation written by National Academies of Sciences, Engineering, and Medicine and published by National Academies Press. This book was released on 2017-09-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: The U.S. Census Bureau has reported that 56.7 million Americans had some type of disability in 2010, which represents 18.7 percent of the civilian noninstitutionalized population included in the 2010 Survey of Income and Program Participation. The U.S. Social Security Administration (SSA) provides disability benefits through the Social Security Disability Insurance (SSDI) program and the Supplemental Security Income (SSI) program. As of December 2015, approximately 11 million individuals were SSDI beneficiaries, and about 8 million were SSI beneficiaries. SSA currently considers assistive devices in the nonmedical and medical areas of its program guidelines. During determinations of substantial gainful activity and income eligibility for SSI benefits, the reasonable cost of items, devices, or services applicants need to enable them to work with their impairment is subtracted from eligible earnings, even if those items or services are used for activities of daily living in addition to work. In addition, SSA considers assistive devices in its medical disability determination process and assessment of work capacity. The Promise of Assistive Technology to Enhance Activity and Work Participation provides an analysis of selected assistive products and technologies, including wheeled and seated mobility devices, upper-extremity prostheses, and products and technologies selected by the committee that pertain to hearing and to communication and speech in adults.

Download or read book Brain Repair After Stroke written by Steven C. Cramer and published by Cambridge University Press. This book was released on 2010-10-28 with total page 307 pages. Available in PDF, EPUB and Kindle. Book excerpt: Increasing evidence identifies the possibility of restoring function to the damaged brain via exogenous therapies. One major target for these advances is stroke, where most patients can be left with significant disability. Treatments have the potential to improve the victim's quality of life significantly and reduce the time and expense of rehabilitation. Brain Repair After Stroke reviews the biology of spontaneous brain repair after stroke in animal models and in humans. Detailed chapters cover the many forms of therapy being explored to promote brain repair and consider clinical trial issues in this context. This book provides a summary of the neurobiology of innate and treatment-induced repair mechanisms after hypoxia and reviews the state of the art for human therapeutics in relation to promoting behavioral recovery after stroke. Essential reading for stroke physicians, neurologists, rehabilitation physicians and neuropsychologists.

Download or read book The Oxford Handbook of Developmental Psychology Vol 1 written by Philip David Zelazo and published by Oxford University Press. This book was released on 2013-03-21 with total page 1049 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook provides a comprehensive survey of what is now known about psychological development, from birth to biological maturity, and it highlights how cultural, social, cognitive, neural, and molecular processes work together to yield human behavior and changes in human behavior.

Download or read book Robot Operating System ROS written by Anis Koubaa and published by Springer. This book was released on 2016-02-09 with total page 720 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.

Download or read book Legged Robots that Balance written by Marc H. Raibert and published by MIT Press. This book was released on 1986 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance. The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles. Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines. Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, Robotics Research. Legged Robots That Balanceis fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.

Download or read book Artificial Neural Networks ICANN 2010 written by Konstantinos Diamantaras and published by Springer Science & Business Media. This book was released on 2010-09-03 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This three volume set LNCS 6352, LNCS 6353, and LNCS 6354 constitutes the refereed proceedings of the 20th International Conference on Artificial Neural Networks, ICANN 2010, held in Thessaloniki, Greece, in September 20010. The 102 revised full papers, 68 short papers and 29 posters presented were carefully reviewed and selected from 241 submissions. The third volume is divided in topical sections on classification – pattern recognition, learning algorithms and systems, computational intelligence, IEM3 workshop, CVA workshop, and SOINN workshop.