Limit search to available items
Book Cover
E-book
Author Liu, Changliu

Title Designing Robot Behavior in Human-Robot Interactions
Published Milton : CRC Press LLC, 2019

Copies

Description 1 online resource (256 pages)
Contents Cover; Title Page; Copyright Page; Preface; Acknowledgement; Table of Contents; Nomenclature; PART I: INTRODUCTION; 1: Introduction; 1.1 Human-Robot Interactions: An Overview; 1.2 Modes of Interactions; 1.3 Robot Behavior System; 1.3.1 Overview; 1.3.2 Knowledge; 1.3.3 Logic; 1.3.4 Learning Process; 1.4 Design Objectives; 1.4.1 Safety; 1.4.2 Efficiency; 1.4.3 Imitation; 1.4.4 Dexterity; 1.4.5 Cooperation; 1.5 System Evaluation; 1.5.1 Theoretical Evaluation; 1.5.2 Experimental Evaluation; 1.6 Outline of the Book; 2: Framework; 2.1 Multi-Agent Framework; 2.1.1 The General Multi-Agent Model
2.1.2 Models for Different Modes of Interactions2.1.3 Features of Human-Robot Systems; 2.2 Agent Behavior Design and Architecture; 2.2.1 Model-Based Design; 2.2.2 Model-Free Design; 2.3 Conclusion; PART II: THEORY; 3: Safety during Human-Robot Interactions; 3.1 Overview; 3.2 Safety-Oriented Behavior Design; 3.3 Safe Set Algorithm; 3.3.1 The Algorithm; 3.3.2 Example: Planar Robot Arm; 3.3.3 Example: Vehicle; 3.4 Safe Exploration Algorithm; 3.4.1 The Algorithm; 3.4.2 Example: Local Planning of a Vehicle; 3.5 An Integrated Method for Safe Motion Control; 3.6 Conclusion
4: Efficiency in Real-Time Motion Planning4.1 Overview; 4.2 Problem Formulation; 4.3 Optimization-Based Trajectory Planning; 4.3.1 Problem Formulation; 4.3.2 Quadratic Approximation; 4.3.3 Examples: Trajectory Planning for Various Systems; 4.4 Optimization-Based Speed Profile Planning; 4.4.1 Problem Formulation; 4.4.2 Quadratic Approximation; 4.4.3 Example: Vehicle Speed Profile Planning; 4.5 Optimization-Based Layered Planning; 4.6 Conclusion; 5: Imitation: Mimicking Human Behavior; 5.1 Overview; 5.2 Imitation for Prediction; 5.2.1 Classification of Behaviors
5.2.2 Adaptation of Behavior Models5.3 Imitation for Action; 5.3.1 Imitation Learning by Gaussian Mixture Model; 5.3.2 Interpreting GMR from Mechanics, Point of View; 5.3.3 Stability Condition of the Closed-Loop System; 5.4 Conclusion; 6: Dexterity: Analogy Learning to Expand Robot Skill Sets; 6.1 Overview; 6.2 Concept of Analogy Learning; 6.3 Advantages of Analogy Learning; 6.3.1 Learn from SMALL Data; 6.3.2 Robustness to Input Noise; 6.3.3 Guaranteed Collision-Free Property; 6.4 Structure Preserved Registration for Analogy Learning; 6.4.1 Node Registration with Gaussian Mixture Model
6.4.2 Regularization on Local Structure6.4.3 Regularization on Global Topology; 6.4.4 Closed-form Solution for Transformation Function; 6.4.5 Implementation Acceleration; 6.5 Experimental Study; 6.6 Conclusion; 7: Cooperation: Conflict Resolution during Interactions; 7.1 Overview; 7.2 Dynamics of Multi-Agent Systems; 7.2.1 Simultaneous Dynamic Game; 7.2.2 Agent Strategies; 7.2.3 Multi-Agent Learning; 7.2.4 Trapped Equilibrium; 7.3 Cooperation under Information Asymmetry; 7.3.1 Quadratic Game and Nash Equilibrium; 7.3.2 Blame-Me Strategy; 7.3.3 Blame-All Strategy
Summary "In this book, we have set up a unified analytical framework for various human-robot systems, which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control, planning, decision and learning is proposed. In particular, the following topics are discussed in-depth: safety in the process of during human-robot interactions, efficiency in real-time robot motion planning, imitation of human behaviors from demonstration, dexterity of robots to adapt to different environments and tasks, cooperation among robots and humans with conflict resolution. These methods are applied in various scenarios, such as human-robot collaborative assembly, robot skill learning from human demonstration, interaction between autonomous and human-driven vehicles, etc."
Notes 7.3.4 Example: Robot-Robot Cooperation
Bibliography Includes bibliographical references and index
Notes Print version record
Subject Human-robot interaction.
Robotics.
Human-robot interaction
Robotics
Form Electronic book
Author Tang, Te
Lin, Hsien-Chung
Tomizuka, Masayoshi
ISBN 9780429608377
0429608373
9780429602856
0429602855
9780429597336
0429597339
9780429058714
0429058713