Household Service Robotics

1st Edition - December 5, 2014
Authors: Yangsheng Xu, Huihuan Qian, Xinyu Wu
Language: English
Hardback ISBN:
9 7 8 - 0 - 1 2 - 8 0 0 8 8 1 - 2
eBook ISBN:
9 7 8 - 0 - 1 2 - 8 0 0 9 4 3 - 7

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Household Service Robotics is a collection of the latest technological advances in household service robotics in five main areas: robot systems, manipulation, navigation, object recognition, and human-robot interaction. The book enables readers to understand development s and apply them to their own working areas, including:

Robotic technologies for assisted living and elderly care
Domestic cleaning automation
Household surveillance
Guiding systems for public spaces

Service robotics is a highly multidisciplinary field, requiring a holistic approach. This handbook provides insights to the disciplines involved in the field as well as advanced methods and techniques that enable the scale-up of theory to actual systems. It includes coverage of functionalities such as vision systems, location control, and HCI, which are important in domestic settings.

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
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 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
- 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
- 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
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
- Chapter 3.2. An Error-Aware Incremental Planar Motion Estimation Method Using Paired Vertical Lines for Small Robots in Urban Areas
  - 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
- 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
- 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
- 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
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
- 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
- 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
- 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
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
- 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
- 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
- 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
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
- 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
- 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
- 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
Index

Life Sciences

Physical Sciences & Engineering

Social Sciences & Humanities

Health

Household Service Robotics

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Yangsheng Xu

Huihuan Qian

Xinyu Wu