Wang A Visual Servoing Approach to Human-Robot Interactive Object Transfer

1. Auflage 2016
ISBN: 978-3-7412-0412-8
Verlag: BoD - Books on Demand
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 192 Seiten

Taking human factors into account, a visual servoing approach aims to facilitate robots with real-time situational information to accomplish tasks in direct and proximate collaboration with people. A hybrid visual servoing algorithm, a combination of the classical position-based and image-based visual servoing, is applied to the whole task space. A model-based tracker monitors the human activities, via matching the human skeleton representation and the image of people in image. Grasping algorithms are implemented to compute grasp points based on the geometrical model of the robot gripper. Whilst major challenges of human-robot interactive object transfer are visual occlusions and making grasping plans, this work proposes a new method of visually guiding a robot with the presence of partial visual occlusion, and elaborate the solution to adaptive robotic grasping.

Autoren/Hrsg.

Wang, Ying

Inhaltsverzeichnis

1;Title Page;3
2;Copyright;4
3;Abstract;5
4;Zusammenfassung;7
5;Acknowledgments;9
6;Table of Contents;11
7;1 Introduction;15
7.1;1.1 Research motivation;15
7.2;1.2 Dissertation structure;18
8;2 Definition of the Research Scope;21
8.1;2.1 Research questions;21
8.2;2.2 Research objectives;22
8.3;2.3 Study scenarios;24
8.4;2.4 Conceptional definition of visual servoing;26
9;3 Contextual Terminology;29
9.1;3.1 3D pose representation;29
9.1.1;3.1.1 Description of a position;29
9.1.2;3.1.2 Description of a rotation;30
9.1.3;3.1.3 Principal rotation matrices;31
9.1.4;3.1.4 Coordinate transformation;34
9.2;3.2 Camera model;37
9.2.1;3.2.1 Basic projective geometry;37
9.2.2;3.2.2 Intrinsic parameters;40
9.3;3.3 Image feature extraction;42
9.4;3.4 Grasp model;43
10;4 State of the Art;47
10.1;4.1 Human-robot Interaction;47
10.1.1;4.1.1 Robotic autonomy;47
10.1.2;4.1.2 Challenges;51
10.1.3;4.1.3 Research themes;52
10.1.4;4.1.4 Evaluation practices;54
10.2;4.2 Visual approaches to robotic manipulation;55
10.2.1;4.2.1 General formulation of visual servoing;57
10.2.2;4.2.2 Classifications of visual servoing;59
10.2.3;4.2.3 Vision-motor model;69
10.2.4;4.2.4 State estimation;71
10.2.5;4.2.5 Visual servoing frameworks;73
10.3;4.3 Robotic grasping;74
10.3.1;4.3.1 Force closure and form closure;75
10.3.2;4.3.2 Contact analysis;76
10.3.3;4.3.3 Empirical grasp learning;78
10.3.4;4.3.4 Analytical grasp analysis;80
10.3.5;4.3.5 Vision-based grasping;81
10.4;4.4 Summary;83
11;5 Problem Formulation and Analysis;85
11.1;5.1 Problem domain analysis;85
11.2;5.2 Requirement elicitation;86
11.2.1;5.2.1 Functional requirements;87
11.2.2;5.2.2 Non-functional requirements;89
11.3;5.3 Summary;91
12;6 Process-based System Modeling;93
12.1;6.1 System description;93
12.2;6.2 Use case description;100
12.2.1;6.2.1 Calibration;100
12.2.2;6.2.2 Global supervision;101
12.2.3;6.2.3 Visual Servoing;103
12.2.4;6.2.4 Human motion tracking;104
12.2.5;6.2.5 Grasp planning;106
12.2.6;6.2.6 Communication;107
12.3;6.3 Summary;108
13;7 Component-based System Modeling;109
13.1;7.1 General system architecture;109
13.2;7.2 Visual servoing control;110
13.2.1;7.2.1 Control design;111
13.2.2;7.2.2 Stability analysis;112
13.2.3;7.2.3 Control commands;114
13.3;7.3 Human motion tracking;115
13.3.1;7.3.1 Human representation;116
13.3.2;7.3.2 Estimation of human pose;117
13.3.3;7.3.3 Hand detection;119
13.4;7.4 Grasp planning;120
13.4.1;7.4.1 Offline planning;120
13.4.2;7.4.2 Online selection;123
13.5;7.5 Global supervision;124
13.6;7.6 Summary;126
14;8 Implementation Details;127
14.1;8.1 System calibration;127
14.2;8.2 Building a 2 1/2 D visual servoing task;131
14.3;8.3 Human tracker;134
14.4;8.4 Grasp planning;136
14.4.1;8.4.1 Offline planning;136
14.4.2;8.4.2 Online selection;138
14.5;8.5 Global supervision;139
14.6;8.6 Communication interface;140
14.7;8.7 Overview of implementation;141
14.8;8.8 Summary;143
15;9 Evaluation;145
15.1;9.1 Relating requirements to implementation;145
15.2;9.2 Evaluation;150
15.2.1;9.2.1 Criteria;151
15.2.2;9.2.2 Experimental setup;153
15.2.3;9.2.3 Results discussion;155
15.3;9.3 Discussion;161
16;10 Summary and Outlook;163
16.1;10.1 Summary;163
16.2;10.2 Outlook;165
17;List of Tables;169
18;List of Figures;171
19;List of Abbreviations;175
20;Bibliography;177