Application and Optimal Control of Vision Robot System

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: closed (15 November 2021) | Viewed by 6535

Special Issue Editor


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Guest Editor
Department of Electromechanics, University of Antwerp, Antwerp, Belgium
Interests: robotics; mechatronics; visual serving systems; identification and control
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Special Issue Information

Dear Colleague,

Recent research in the field of robotics aims to use auxiliary sensors to help improve the robustness, flexibility, and accuracy of the control system. The information obtained from sensors is used as feedback in the system control loop. In recent years, a manifold of sensor types has been developed to perform specific tasks which vary in their features and operation design. Due the fact that industrial systems are becoming increasingly more interconnected, the current control schemes need to be updated in order to deal with the system dynamics, system faults, etc. In recent years, there has been increased research attempting to make steps toward the design and development of high-performance and autonomous robotic systems by means of control strategies able to achieve optimal performance at all times and in all circumstances with minimum user interaction.


We welcome any contributions within the general scope of the Special Issue theme “Applications and Optimal Control of Vision Robot Systems”. Review papers are also welcome. Topics of interest include (but are not limited to):

Motion planning
Robot control
Control in mechatronic systems
Human–robot interaction
Multi-robot systems
Robotics and intelligent control
Visual servoing systems
Sensors and actuators
Task planning and monitoring
Manipulation and grasping
Visual control law
Vision-guided robot

Dr. Cosmin Copot
Guest Editor

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Published Papers (1 paper)

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Research

18 pages, 6696 KiB  
Article
GazeEMD: Detecting Visual Intention in Gaze-Based Human-Robot Interaction
by Lei Shi, Cosmin Copot and Steve Vanlanduit
Robotics 2021, 10(2), 68; https://doi.org/10.3390/robotics10020068 - 30 Apr 2021
Cited by 23 | Viewed by 5515
Abstract
In gaze-based Human-Robot Interaction (HRI), it is important to determine human visual intention for interacting with robots. One typical HRI interaction scenario is that a human selects an object by gaze and a robotic manipulator will pick up the object. In this work, [...] Read more.
In gaze-based Human-Robot Interaction (HRI), it is important to determine human visual intention for interacting with robots. One typical HRI interaction scenario is that a human selects an object by gaze and a robotic manipulator will pick up the object. In this work, we propose an approach, GazeEMD, that can be used to detect whether a human is looking at an object for HRI application. We use Earth Mover’s Distance (EMD) to measure the similarity between the hypothetical gazes at objects and the actual gazes. Then, the similarity score is used to determine if the human visual intention is on the object. We compare our approach with a fixation-based method and HitScan with a run length in the scenario of selecting daily objects by gaze. Our experimental results indicate that the GazeEMD approach has higher accuracy and is more robust to noises than the other approaches. Hence, the users can lessen cognitive load by using our approach in the real-world HRI scenario. Full article
(This article belongs to the Special Issue Application and Optimal Control of Vision Robot System)
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