book

Household Service Robotics

by Yangsheng Xu, Huihuan Qian, Xinyu Wu

December 2014

Intermediate to advanced

564 pages

17h 3m

English

Academic Press

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Cover image
Title page
Table of Contents
Copyright
Preface
Part 1. Introduction
Chapter 1.1. Introduction
1.1.1. Work Environments for Household Service Robots1.1.2. 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 Systems2.1.2. Attached Mobile Service Robotic Systems2.1.3. Mobile Household Service Robotic Systems2.1.4. Summary of Case Studies
Chapter 2.2. Surveillance Robot Utilizing Video and Audio Information
2.2.1. Introduction2.2.2. System Initialization2.2.3. Video Surveillance2.2.4. Abnormal Audio Information Detection2.2.5. Experimental Results Utilizing Video and Audio Information2.2.6. Conclusions

Chapter 2.3. Robot-Assisted Wayfinding for the Visually Impaired in Structured Indoor Environments
2.3.1. Introduction2.3.2. An Ontology of Environments2.3.3. RG-I: A Robotic Guide2.3.4. Wayfinding2.3.5. Pilot Experiments2.3.6. Conclusions
Chapter 2.4. Design and Implementation of a Service Robot for Elders
2.4.1. Introduction2.4.2. Robot System2.4.3. Human–Robot Interaction2.4.4. Experiments2.4.5. Conclusion
Chapter 2.5. A Household Service Robot with a Cellphone Interface
2.5.1. Introduction2.5.2. System Architecture2.5.3. Grasping Algorithm2.5.4. Solving Subproblem 12.5.5. Solving Subproblem 22.5.6. Experiments2.5.7. 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 Localization3.1.2. Navigation, Path Planning, and Obstacle Avoidance3.1.3. 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. Introduction3.2.2. Related Studies3.2.3. Problem Definition3.2.4. Deriving a Minimum Solution with a Single Vertical Line Pair3.2.5. Error-Aware Ego-Motion Estimation Using Multiple Vertical Line Pairs3.2.6. Algorithms3.2.7. Experiments
3.2.8. Conclusion and Future Work
Chapter 3.3. Planning and Obstacle Avoidance in Mobile Robotics
3.3.1. Introduction3.3.2. Related Work3.3.3. Navigation Architecture3.3.4. Roaming Trails3.3.5. Experimental Results3.3.6. Conclusions
Chapter 3.4. Monocular SLAM with Undelayed Initialization for an Indoor Robot
3.4.1. Introduction3.4.2. EKF Framework3.4.3. Implementation of SLAM3.4.4. Simulation and Experiment3.4.5. Conclusions and Future WorkAppendix Supplementary Data
Chapter 3.5. Human-Centered Robot Navigation-Towards a Harmoniously Human—Robot Coexisting Environment
3.5.1. Introduction3.5.2. Harmonious Rules3.5.3. Various Sensitive Fields3.5.4. Human-Centered Sensitive Navigation System Architecture3.5.5. Human-Centered Sensitive Navigation3.5.6. Simulations3.5.7. Experimental Results3.5.8. 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. Overview4.1.2. Summary of Case Studies
Chapter 4.2. A Side of Data with My Robot
4.2.1. Related Work4.2.2. Contents and Collection Methodology4.2.3. Contents: Robot Sensor Data4.2.4. Annotations and Annotation Methodology4.2.5. Annotation Methodology4.2.6. Applications4.2.7. Future Work4.2.8. Related Work4.2.9. Contents and Collection Methodology4.2.10. Annotations and Annotation Methodology4.2.11. Applications4.2.12. Future Work4.2.13. Related Work4.2.14. Contents and Collection Methodology4.2.15. Annotations and Annotation Methodology4.2.16. Applications
Chapter 4.3. Robust Recognition of Planar Mirrored Walls
4.3.1. Introduction4.3.2. Related Work4.3.3. Problem Definition4.3.4. Modeling4.3.5. Algorithm4.3.6. Experiments4.3.7. Conclusion and Future Work
Chapter 4.4. Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
4.4.1. Introduction4.4.2. Datasets and Performance Metrics4.4.3. Lowe's SIFT4.4.4. Vocabulary Tree Method4.4.5. Viola–Jones Boosting4.4.6. Discussion4.4.7. 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 Detection5.1.2. Planning5.1.3. Control5.1.4. Summary of Case Studies
Chapter 5.2. A Geometric Approach to Robotic Laundry Folding
5.2.1. Introduction5.2.2. Related Work5.2.3. Problem Description5.2.4. Fold Execution5.2.5. Determining the Cloth Polygon5.2.6. Experimental Results5.2.7. Conclusion and Future WorkFundingAppendix A: Proof of Theorem 1Appendix B: Shape Models UsedAppendix C: Black Box Numerical Optimization
Chapter 5.3. Robust Visual Servoing
5.3.1. Introduction5.3.2. Motivation5.3.3. Detection and Pose Estimation5.3.4. Transportation: Coarse Visual Servoing5.3.5. Model-Based Visual Servoing5.3.6. Example Tasks5.3.7. Conclusion
Chapter 5.4. Implementation of Cognitive Controls for Robots
5.4.1. Introduction5.4.2. Cognitive Control for Robots5.4.3. The Working Memory System5.4.4. The Role of CEA and FRA for Task Switching5.4.5. Self-Motivated, Internal State-Based Action Selection Mechanism5.4.6. Future Plans5.4.7. ConclusionsAppendix 1. Spatial Attention and Action SelectionAppendix 2. Verbs and Adverbs for Behavior ExecutionAppendix 3. Memory Contents during Work Memory TrainingAppendix 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 Systems6.1.2. Summary of Case Studies
Chapter 6.2. Evaluating the Robot Personality and Verbal Behavior of Domestic Robots Using Video-Based Studies
6.2.1. Introduction6.2.2. VHRI Methodology6.2.3. Experiments6.2.4. Results6.2.5. Discussion6.2.6. Conclusions
Chapter 6.3. Using Socially Assistive Human–Robot Interaction to Motivate Physical Exercise for Older Adults
6.3.1. Introduction6.3.2. Related Work6.3.3. SAR Approach6.3.4. Robot Exercise System6.3.5. Motivation Study I: Praise and Relational Discourse Effects6.3.6. Motivation Study II: User Choice and Self-Determination6.3.7. Conclusion
Chapter 6.4. Toward a Human–Robot Symbiotic System
6.4.1. Introduction6.4.2. Framework for Human–Humanoid Interaction6.4.3. Robot Memory Data Structures6.4.4. Current Applications6.4.5. Conclusion
Index

Content preview from Household Service Robotics

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 ...

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Publisher Resources

ISBN: 9780128008812

Cloud Computing

Data Engineering

Data Science

AI & ML

Programming Languages

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IT/Ops

Security

Design

Business

Soft Skills

Household Service Robotics

by Yangsheng Xu, Huihuan Qian, Xinyu Wu

Table of Contents

Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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