Designing Robot Behavior in Human-Robot Interactions (Hardcover)

Table of Contents SECTION I INTRODUCTIONIntroduction Human-Robot Interactions: An OverviewModes of Interactions Robot Behavior System Design Objectives System Evaluation Outline of the Book FrameworkMulti-Agent Framework Agent Behavior Design and ArchitectureConclusion SECTION II THEORY Safety during Human-Robot InteractionsOverviewSafety-Oriented Behavior DesignSafe Set Algorithm Safe Exploration AlgorithmAn Integrated Method for Safe Motion Control Conclusion Efficiency in Real-Time Motion PlanningOverviewProblem Formulation Optimization-Based Trajectory Planning Optimization-Based Speed Profile Planning Optimization-Based Layered PlanningConclusion Imitation: Mimicking Human Behavior OverviewImitation for PredictionImitation for Action Conclusion Dexterity: Analogy Learning to Expand Robot Skill Sets OverviewConcept of Analogy Learning Advantages of Analogy Learning Structure Preserved Registration for Analogy LearningExperimental Study Conclusion Cooperation: Conflict Resolution during InteractionsOverviewDynamics of Multi-Agent Systems Cooperation under Information Asymmetry Conflict Resolution through CommunicationConclusion SECTION III APPLICATIONS Human-Robot Co-existence: Space-Sharing InteractionsOverviewRobot Safe Interaction System for Industrial RobotsRobustly-Safe Automated Driving SystemConclusion Robot Learning from Human: Hierarchical InteractionsOverviewRemote Lead Through Teaching for Implementing Imitation LearningRobotic Grasping by Analogy LearningRobotic Motion Re-planning by Analogy LearningConclusion Human-Robot Collaboration: Time-Sharing Interactions Human-Robot Collaboration in ManufacturingSafe and Efficient Robot Collaborative SystemExperimental Study Conclusion SECTION IV CONCLUSION Vision for Future Robotics and Human-Robot InteractionsRoadmap to the FutureConclusion of the Book References Index