Household Service Robotics.

Front Cover -- Household Service Robotics -- Copyright -- Contents -- 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 -- References -- 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 -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- 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 -- References -- Chapter 3.2 - An Error-Aware Incremental Planar Motion Estimation Method Using Paired Vertical Lines for Small Robots in Ur ... -- 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 -- Acknowledgments -- References -- 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 -- References -- 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 -- References -- 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 -- References -- 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 -- References -- 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 -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- 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 -- References -- 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 -- References -- 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 -- Acknowledgment.

References -- 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 -- Acknowledgments -- References -- 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 -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- 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 -- Acknowledgments -- References -- Index.

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Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2024. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.