Humanoid robot control of complex postural tasks based on learning from demostration

Mención Internacional en el título de doctorThis thesis addresses the problem of planning and controlling complex tasks in a humanoid robot from a postural point of view. It is motivated by the growth of robotics in our current society, where simple robots are being integrated. Its objective is to make an advancement in the development of complex behaviors in humanoid robots, in order to allow them to share our environment in the future. The work presents different contributions in the areas of humanoid robot postural control, behavior planning, non-linear control, learning from demonstration and reinforcement learning. First, as an introduction of the thesis, a group of methods and mathematical formulations are presented, describing concepts such as humanoid robot modelling, generation of locomotion trajectories and generation of whole-body trajectories. Next, the process of human learning is studied in order to develop a novel method of postural task transference between a human and a robot. It uses the demonstrated action goal as a metrics of comparison, which is codified using the reward associated to the task execution. As an evolution of the previous study, this process is generalized to a set of sequential behaviors, which are executed by the robot based on human demonstrations. Afterwards, the execution of postural movements using a robust control approach is proposed. This method allows to control the desired trajectory even with mismatches in the robot model. Finally, an architecture that encompasses all methods of postural planning and control is presented. It is complemented by an environment recognition module that identifies the free space in order to perform path planning and generate safe movements for the robot. The experimental justification of this thesis was developed using the humanoid robot HOAP-3. Tasks such as walking, standing up from a chair, dancing or opening a door have been implemented using the techniques proposed in this work.Esta tesis aborda el problema de la planificación y control de tareas complejas de un robot humanoide desde el punto de vista postural. Viene motivada por el auge de la robótica en la sociedad actual, donde ya se están incorporando robots sencillos y su objetivo es avanzar en el desarrollo de comportamientos complejos en robots humanoides, para que en el futuro sean capaces de compartir nuestro entorno. El trabajo presenta diferentes contribuciones en las áreas de control postural de robots humanoides, planificación de comportamientos, control no lineal, aprendizaje por demostración y aprendizaje por refuerzo. En primer lugar se desarrollan un conjunto de métodos y formulaciones matemáticas sobre los que se sustenta la tesis, describiendo conceptos de modelado de robots humanoides, generación de trayectorias de locomoción y generación de trayectorias del cuerpo completo. A continuación se estudia el proceso de aprendizaje humano, para desarrollar un novedoso método de transferencia de una tarea postural de un humano a un robot, usando como métrica de comparación el objetivo de la acción demostrada, que es codificada a través del refuerzo asociado a la ejecución de dicha tarea. Como evolución del trabajo anterior, se generaliza este proceso para la realización de un conjunto de comportamientos secuenciales, que son de nuevo realizados por el robot basándose en las demostraciones de un ser humano. Seguidamente se estudia la ejecución de movimientos posturales utilizando un método de control robusto ante imprecisiones en el modelado del robot. Para analizar, se presenta una arquitectura que aglutina los métodos de planificación y el control postural desarrollados en los capítulos anteriores. Esto se complementa con un módulo de reconocimiento del entorno y extracción del espacio libre para poder planificar y generar movimientos seguros en dicho entorno. La justificación experimental de la tesis se ha desarrollado con el robot humanoide HOAP-3. En este robot se han implementado tareas como caminar, levantarse de una silla, bailar o abrir una puerta. Todo ello haciendo uso de las técnicas propuestas en este trabajo.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Manuel Ángel Armada Rodríguez.- Secretario: Luis Santiago Garrido Bullón.- Vocal: Sylvain Calino

Psychology, Learning, Technology

This open access book constitutes the refereed proceedings of 1st International Workshop on Psychology, Learning, Technology, PLT 2022, Foggia, Italy, during January 2022. The 8 full papers presented here were carefully reviewed and selected from 23 submissions. In addition, one invited paper is also included. Psychology, Learning, ad Technology Conference (PLT2022) aims to explore learning paths that incorporate digital technologies in innovative and transformative ways and the improvement of the psychological and relational life. The conference includes topics about the methodology of application of the ICT tools in psychology and education: from blended learning to the application of artificial intelligence in education; from the teaching, learning, and assessment strategies and practices to the new frontiers on Human-Computer Interaction

Psychology, Learning, Technology

This open access book constitutes the refereed proceedings of 1st International Workshop on Psychology, Learning, Technology, PLT 2022, Foggia, Italy, during January 2022. The 8 full papers presented here were carefully reviewed and selected from 23 submissions. In addition, one invited paper is also included. Psychology, Learning, ad Technology Conference (PLT2022) aims to explore learning paths that incorporate digital technologies in innovative and transformative ways and the improvement of the psychological and relational life. The conference includes topics about the methodology of application of the ICT tools in psychology and education: from blended learning to the application of artificial intelligence in education; from the teaching, learning, and assessment strategies and practices to the new frontiers on Human-Computer Interaction

Transport 2040 : Impact of Technology on Seafarers - The Future of Work

https://commons.wmu.se/lib_reports/1091/thumbnail.jp

Internet of Things enabled sedentary behaviour change in office workers: development and feasibility of a novel intervention (WorkMyWay)

Sedentary behaviour (SB) without breaks is associated with adverse health outcomes. The prevalence of prolonged sitting at work among office workers makes a case for SB interventions to target this setting and population. Everyday mundane objects augmented with microelectronics and ubiquitous computing represent a novel mode of delivery for behaviour change interventions enabled by the Internet of Things (IoT). However, there is insufficient research to guide the design of interventions delivered with smart objects. This research addresses this gap by developing WorkMyWay, a workplace SB intervention delivered with IoT-enabled office objects (e.g. smart water bottles and cups), and evaluating its feasibility and acceptability in an 8-week “in-the-wild” study. This thesis made 4 contributions across the disciplines of behavioural medicine and human-computer interactions (HCI). The first contribution is the development of the WorkMyWay intervention, which is informed by findings from a systematic scoping review of prior research in this field (Chapter 3), a diary-probed interview study with 20 office workers (Chapter 4), and a series of technology audit, prototyping, human-centred design, and requirement engineering processes (Chapter 5). Findings from the feasibility study (Chapter 6) suggest that despite technical issues with the data connection, participants perceive high value of WorkMyWay in changing their SB. The intervention is potentially implementable in office-based workplaces, as long as connectivity issues are fixed. Recommendations are made on improvements and a series of future studies in accordance with the Medical Research Council’s guidance on complex intervention development and evaluation. Second, this thesis deepens the theoretical understanding of SB change, by following the Behaviour Change Wheel framework (including the COM-B model, theoretical domain framework, and taxonomies of Behaviour Change Techniques (BCT)) throughout intervention design and evaluation. The intervention contents are specified using the BCT taxonomies (Chapter 5) and informed by the first published COM-B analysis of office worker’s prolonged sitting behaviour at work (Chapter 4). This allows the feasibility study (Chapter 6) to contribute to theory development by matching the interview questions and psychological measures (e.g. strength of habit) with the BCTs (e.g. action planning, prompts and cues) and associated theoretical underpinnings (e.g. goal accessibility). It also allows implementation issues to be considered in light of how well those theories and theory-informed BCTs can work in real-life settings. Third, this thesis makes a methodological contribution by documenting an interdisciplinary approach to develop a digital behaviour change intervention and a model for applying and developing theories of behaviour change in the wild. This helps address the challenge identified in Chapter 3, by bridging the gap between HCI and behavioural medicine, and catalyse the process of feeding technological innovations downstream to health practice and intervention research. Fourth, this research contributes to the HCI literature by proposing a 2×2 matrix framework to guide the design of technology for sustainable behaviour change. On one hand, the framework unifies some of the existing visions and concepts about ubiquitous computing and applies them to the context of behaviour change, by considering the type of cognitive process (automatic versus reflective, based on the dual process model) through which a persuasive design influences the behaviour. For another, the framework considers the required dosage of their technology intervention to maintain the behaviour, or the distribution of changes between the physical world and the human cognition

Proceedings of the Conference on Production Systems and Logistics: CPSL 2022

[no abstract available