Human Friendly Robotics Proceedings in Advanced Robotics Fanny Ficuciello Fabio Ruggiero Alberto Finzi

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Human Friendly Robotics Proceedings in Advanced Robotics Fanny Ficuciello Fabio Ruggiero Alberto Finzi

Preface

The growing need to automate daily tasks, combined with new robot technologies,
is driving the development of a new generation of human friendly robots, i.e., safe
and dependable machines, operating in the close vicinity to humans or directly
interacting with them in a wide range of domains. The technological shift from
classical industrial robots, which are safely kept away from humans in cages to
robots, which are used in close collaboration with humans, is facing major challenges
that need to be overcome. The International Workshop on Human Friendly
Robotics (HFR) is an annual meeting dedicated to these issues and organized by
young researchers in a rotating fashion around Europe. Previous venues were
Naples (Italy), Genova (Italy), Pisa (Italy), Tübingen (Germany), Twente (the
Netherlands), Brussels (Belgium), Rome (Italy), Pontedera (Italy), Munich
(Germany), Genova (Italy). The workshop covers a wide range of topics related to
human–robot interaction, both physical and cognitive, including theories,
methodologies, technologies, empirical and experimental studies. The objective
of the workshop is to bring together academic scientists, researchers, and research
scholars to exchange and share their experiences and research results on all aspects
related to the introduction of robots into everyday life. Senior scientists experts in
the field are invited to the workshop as keynote speakers. Their role is also to guide
students and young researchers during the discussions. The 10th International
Workshop on Human Friendly Robotics (HFR 2017) was held in Naples, Italy,
from November 6 to 7, 2017. The workshop was chaired by Fanny Ficuciello and
co-chaired by Fabio Ruggiero and Alberto Finzi. The meeting consisted of three
keynote talks, a forum with open discussion, and twenty-eight contributed presentations
in a single track. This is the first edition of the workshop with associated
proceedings and thus the first book of the SPAR series dedicated to HFR. The
papers contained in the book have been selected on the basis of a peer-reviewed
process and describe the newest and most original achievements in the field of
human–robot interaction coming from the work and ideas of young researchers.
Each paper presented to the workshop was refereed by at least two members of the
Steering Committe

Contents

Part I Robot Control and Manipulation
A Stiffness-Fault-Tolerant Control Strategy for Reliable
Physical Human-Robot Interaction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Florian Stuhlenmiller, Gernot Perner, Stephan Rinderknecht
and Philipp Beckerle
Tracking Control of Redundant Manipulators with Singularity-Free
Orientation Representation and Null-Space Compliant Behaviour . . . . . 15
Fabio Vigoriti, Fabio Ruggiero, Vincenzo Lippiello and Luigi Villani
Repetitive Jumping Control for Biped Robots via Force
Distribution and Energy Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Gianluca Garofalo and Christian Ott
Multifunctional Principal Component Analysis for
Human-Like Grasping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Marco Monforte, Fanny Ficuciello and Bruno Siciliano
Part II Natural Human-Robot Interaction
A General Approach to Natural Human-Robot Interaction . . . . . . . . . . 61
Lorenzo Sabattini, Valeria Villani, Cristian Secchi and Cesare Fantuzzi
Construction of a Cooperative Operation Avatar Robot
System to Enhance Collective Efficacy . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Takafumi Sekido, Ryosuke Sakamoto, Teppei Onishi and Hiroyasu Iwata
Locomotion and Telepresence in Virtual and Real Worlds . . . . . . . . . . 85
Alessandro Spada, Marco Cognetti and Alessandro De Luca
Social Robots as Psychometric Tools for Cognitive Assessment:
A Pilot Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Simone Varrasi, Santo Di Nuovo, Daniela Conti and Alessandro Di Nuovo
xiii
Part III Human Robot Collaboration
Development of a Wearable Device for Sign Language
Translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Francesco Pezzuoli, Dario Corona, Maria Letizia Corradini
and Andrea Cristofaro
Close Encounters of the Fifth Kind? Affective Impact of Speed
and Distance of a Collaborative Industrial Robot on Humans . . . . . . . 127
Marijke Bergman and Maikel van Zandbeek
Dynamic Graphical Signage Improves Response Time and
Decreases Negative Attitudes Towards Robots in Human-Robot
Co-working . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Iveta Eimontaite, Ian Gwilt, David Cameron, Jonathan M. Aitken,
Joe Rolph, Saeid Mokaram and James Law
Towards Progressive Automation of Repetitive Tasks Through
Physical Human-Robot Interaction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Fotios Dimeas, Filippos Fotiadis, Dimitrios Papageorgiou,
Antonis Sidiropoulos and Zoe Doulgeri
Part IV Robot Learning
Enhancing Shared Control via Contact Force Classification
in Human-Robot Cooperative Task Execution . . . . . . . . . . . . . . . . . . . . 167
Jonathan Cacace, Alberto Finzi and Vincenzo Lippiello
Multi-modal Intention Prediction with Probabilistic Movement
Primitives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Oriane Dermy, Francois Charpillet and Serena Ivaldi
Locomotion Mode Classification Based on Support Vector Machines
and Hip Joint Angles: A Feasibility Study for Applications
in Wearable Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Vito Papapicco, Andrea Parri, Elena Martini, Vitoantonio Bevilacqua,
Simona Crea and Nicola Vitiello
Object Segmentation in Depth Maps with One User Click
and a Synthetically Trained Fully Convolutional Network . . . . . . . . . . . 207
Matthieu Grard, Romain Brégier, Florian Sella, Emmanuel Dellandréa
and Liming Chen