Towards Autonomous Robotic Systems: 23rd Annual Conference, TAROS 2022, Culham, UK, September 7–9, 2022, Proceedings PDF
Preview Towards Autonomous Robotic Systems: 23rd Annual Conference, TAROS 2022, Culham, UK, September 7–9, 2022, Proceedings
Salvador Pacheco-Gutierrez · Alice Cryer · Ipek Caliskanelli · Harun Tugal · Robert Skilton (Eds.) 6 4 Towards Autonomous 5 3 1 AI Robotic Systems N L 23rd Annual Conference, TAROS 2022 Culham, UK, September 7–9, 2022 Proceedings 123 Lecture Notes in Artificial Intelligence 13546 Subseries of Lecture Notes in Computer Science SeriesEditors RandyGoebel UniversityofAlberta,Edmonton,Canada WolfgangWahlster DFKI,Berlin,Germany Zhi-HuaZhou NanjingUniversity,Nanjing,China FoundingEditor JörgSiekmann DFKIandSaarlandUniversity,Saarbrücken,Germany Moreinformationaboutthissubseriesathttps://link.springer.com/bookseries/1244 · · Salvador Pacheco-Gutierrez Alice Cryer · · Ipek Caliskanelli Harun Tugal Robert Skilton (Eds.) Towards Autonomous Robotic Systems 23rd Annual Conference, TAROS 2022 Culham, UK, September 7–9, 2022 Proceedings Editors SalvadorPacheco-Gutierrez AliceCryer UKAEA’sRACE UKAEA’sRACE Abindgon,UK Abingdon,UK IpekCaliskanelli HarunTugal UKAEA’sRACE UKAEA’sRACE Abingdon,UK Abingdon,UK RobertSkilton UKAEA’sRACE Abingdon,UK ISSN 0302-9743 ISSN 1611-3349 (electronic) LectureNotesinArtificialIntelligence ISBN 978-3-031-15907-7 ISBN 978-3-031-15908-4 (eBook) https://doi.org/10.1007/978-3-031-15908-4 LNCSSublibrary:SL7–ArtificialIntelligence ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicense toSpringerNatureSwitzerlandAG2022 Chapter“TeleoperatingaLeggedManipulatorThroughWhole-BodyControl”islicensedunderthetermsof theCreativeCommonsAttribution4.0InternationalLicense(http://creativecommons.org/licenses/by/4.0/). Forfurtherdetailsseelicenseinformationinthechapter. Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynow knownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthors,andtheeditorsaresafetoassumethattheadviceandinformationinthisbookare believedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictionalclaimsin publishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface This volume contains the papers presented at TAROS 2022, the 23rd Towards Autonomous Robotic Systems (TAROS) Conference, held at Culham Science Centre bytheRemoteApplicationsinChallengingEnvironments(RACE)Departmentofthe UKAtomicEnergyAuthority(UKAEA),Abingdon,UK,duringSeptember7–9,2022 (https://ukaeaevents.com/23rd-taros/). TAROSisthelongestrunningUK-hostedinternationalconferenceonroboticsand autonomous systems (RAS), which is aimed at the presentation and discussion of the latest results and methods in autonomous robotics research and applications. The conference offers a friendly environment for robotics researchers and industry to take stock and plan future progress. It welcomes senior researchers and research students alike,andspecificallyprovidesopportunitiesforresearchstudentsandyoungresearch scientiststopresenttheirworktothescientificcommunity. TAROS2022washeldintheCulhamScienceCentre,homeoftheUKAtomicEnergy Authority, including the Remote Applications in Challenging Environments (RACE) facility, and the Joint European Torus (JET) fusion energy experiment. The papers in thisvolumewereselectedfrom38submissions,whichweresentforsingle-blindpeer review.Outofthese,14fullpapersand10shortpaperswereselectedfortheconference, which is a 63% acceptance rate. The conference programme included an academic conference,industryexhibitions,robotdemonstrations,atourofJETandtherobotics facilitiessupportingitsremotehandling,andaconferencedinner.Theprogramcovered roboticsystems,human–robotinteraction,robotnavigationandplanning,robotcontrol, andindustrialrobots,andhighlightsincluded – Keynote lectures by world-leading experts in robotics, including lectures by Paul NewmanfromtheUniversityofOxford,UK,andLucJaulinfromENSTABretagne, France, – AnIET-sponsoredeveninglecturebyRobBuckingham,co-founderofOCRobotics andcurrentheadoftheRACEdepartmentwithinUKAEA, – Posterpresentations,coveringvarioustopicsofrobotics,mobilerobotsandvehicles, robotdesignandtesting,detectionandrecognition,learningandadaptivebehaviors, human–robotandrobot–robotinteraction,and – Industrialandacademicexhibitionstands. vi Preface TheTAROS2022OrganizingCommitteewouldliketothankalltheauthors,review- ers,andtheconferencesponsors,includingtheUKAtomicEnergyAuthority,IET,and Springerfortheirsupporttotheconference. September2022 AliceCryer SalvadorPacheco-Gutierrez IpekCaliskanelli HarunTugal RobertSkilton Organization GeneralChair RobertSkilton RACE-UKAEA,UK ProgramChairs AliceCryer RACE-UKAEA,UK SalvadorPacheco-Gutierrez RACE-UKAEA,UK IpekCaliskanelli RACE-UKAEA,UK HarunTugal RACE-UKAEA,UK WebChair SamWainwright RACE-UKAEA,UK SteeringCommittee ManuelGiuliani UniversityoftheWestofEngland,UK ChrisMelhuish UniversityoftheWestofEngland,UK MarkWitkowski ImperialCollegeLondon,UK OrganizingCommittee RadhikaNath RACE-UKAEA,UK BechirTabia RACE-UKAEA,UK OzanTokatli RACE-UKAEA,UK KateConway RACE-UKAEA,UK GuyBurroughes RACE-UKAEA,UK KaiqiangZhang RACE-UKAEA,UK InvitedSpeakers RobBuckingham RACE-UKAEA,UK LucJaulin ENSTABretagne,France PaulNewman UniversityofOxford,UK viii Organization AdditionalReviewers JonathanAitken UniversityofSheffield,UK OmarAldughayem MobilyTelecomunications,SaudiArabia JoaquinCarrasco-Gomez UniversityofManchester,UK KamilCetin IzmirKatipCelebiUniversity,Turkey GauthamDas UniversityofLincoln,UK MauriceFallon UniversityofOxford,UK IldarFarkhatdinov QueenMaryUniversityofLondon,UK AlessandroGiusti IstitutoDalleMollediStudisull’Intelligenza Artificiale,Switzerland GunayGultekin RACE-UKAEA,UK WilliamHarwin UniversityofReading,UK EsraIcer TechnicalUniversityofMunich,Germany BalazsJanko RACE-UKAEA,UK EmilJonasson RACE-UKAEA,UK HasanKivrak UniversityofManchester,UK IbrahimKucukdemiral GlasgowCaledonianUniversity,UK HenryLau RACE-UKAEA,UK PengchengLiu UniversityofYork,UK ErwinLopez UniversityofManchester,UK MarioMartinez-Guerrero UniversityofManchester,UK NandoMilella RACE-UKAEA,UK AlanMillard UniversityofYork,UK ChristopherPeers UniversityofLeeds,UK CanPehlivanturk RACE-UKAEA,UK NikolaPetkov RACE-UKAEA,UK AlexandrosPlianos RACE-UKAEA,UK RogerPowell RACE-UKAEA,UK VijaykumarRajasekaran RACE-UKAEA,UK RobertRichardson UniveristyofLeeds,UK SohabeRichyal RACE-UKAEA,UK TomokiSakaue TEPCO,Japan EnverSalkim MusAlparslanUniversity,Turkey WataruSato TEPCO,Japan OnderTutsoy AdanaAlparslanTurkesScienceandTechnology University,Turkey MingfengWang UniversityofNottingham,UK LushanWeerasooriya RACE-UKAEA,UK AndrewWest UniversityofManchester,UK AndikaYudha RACE-UKAEA,UK KaiqiangZhang RACE-UKAEA,UK IoannisZoulias RACE-UKAEA,UK Contents RoboticGrippersandManipulation ADistributedApproachtoHapticSimulation .............................. 3 DanNorman,WilliamHarwin,andFaustinaHwang ANovelTwo-Hand-InspiredHybridRoboticEnd-EffectorFabricated Using3DPrinting ..................................................... 14 BenjaminMarshandPengchengLiu Investigating the Relationship Between Posture and Safety inTeleoperationalTasks:APilotStudyinImprovedOperationalSafety ThroughEnhancedHuman-MachineInteraction ........................... 29 ThomasPiercy,GuidoHerrmann,RobertSkilton,AngeloCangelosi, MartaRomeo,andErwinJoseLopezPulgarin DesignandAnalysisofanEndEffectorUsingtheFinRayStructure forIntegratedLimbMechanisms ........................................ 40 JackPledgerandMingfengWang Trigger-AssistedAmbidextrousControlFrameworkforTeleoperation ofTwoLeggedManipulators ............................................ 50 ChristopherPeers, JosephHumphreys, YuhuiWan, JunLi, JingchengSun,RobertRichardson,andChengxuZhou TeleoperatingaLeggedManipulatorThroughWhole-BodyControl .......... 63 JosephHumphreys, ChristopherPeers, JunLi, YuhuiWan, JingchengSun,RobertRichardson,andChengxuZhou SoftRobotics,SensingandMobileRobots In-silicoDesignandComputationalModellingofElectroactivePolymer BasedSoftRobotics ................................................... 81 AntonioJ.Gil, RogelioOrtigosa, JesusMartínez-Frutos, andNathanEllmer ExplorationofUnderwaterStorageFacilitieswithSwarmofMicro-surface Robots ............................................................... 92 YifengHe,BarryLennox,andFarshadArvin
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