Front 
1 
Household Service Robotics 4
Copyright 5
Contents 8
Preface 20
Part 1 - 
22 
Chapter 1.1 - Introduction 24
1.1.1 Work Environments for Household Service Robots 26
1.1.2 Functionalities of Household Service Robots 27
References 35
Part 2 - 
38 
Chapter 2.1 - The State of the Art in Service Robotic System Design 40
2.1.1 Stationary Service Robotic Systems 40
2.1.2 Attached Mobile Service Robotic Systems 41
2.1.3 Mobile Household Service Robotic Systems 42
2.1.4 Summary of Case Studies 49
References 53
Chapter 2.2 - Surveillance Robot Utilizing Video and Audio Information 56
2.2.1 Introduction 57
2.2.2 System Initialization 59
2.2.3 Video Surveillance 63
2.2.4 Abnormal Audio Information Detection 70
2.2.5 Experimental Results Utilizing Video and Audio Information 74
2.2.6 Conclusions 74
Acknowledgments 76
References 76
Chapter 2.3 - Robot-Assisted Wayfinding for the Visually Impaired in Structured Indoor Environments 78
2.3.1 Introduction 79
2.3.2 An Ontology of Environments 82
2.3.3 RG-I: A Robotic Guide 83
2.3.4 Wayfinding 87
2.3.5 Pilot Experiments 92
2.3.6 Conclusions 100
Acknowledgments 101
References 101
Chapter 2.4 - Design and Implementation of a Service Robot for Elders 104
2.4.1 Introduction 105
2.4.2 Robot System 105
2.4.3 Human–Robot Interaction 108
2.4.4 Experiments 110
2.4.5 Conclusion 113
Acknowledgments 114
References 114
Chapter 2.5 - A Household Service Robot with a Cellphone Interface 116
2.5.1 Introduction 117
2.5.2 System Architecture 120
2.5.3 Grasping Algorithm 121
2.5.4 Solving Subproblem 1 122
2.5.5 Solving Subproblem 2 126
2.5.6 Experiments 129
2.5.7 Conclusion and Future Work 133
Acknowledgments 134
References 134
Part 3 - 
136 
Chapter 3.1 - The State of the Art in Mapping and Navigation for Household Service 138
3.1.1 Map Building and Localization 138
3.1.2 Navigation, Path Planning, and Obstacle Avoidance 143
3.1.3 Summary of Case Studies 145
References 147
Chapter 3.2 - An Error-Aware Incremental Planar Motion Estimation Method Using Paired Vertical Lines for Small Robots in Ur ... 150
3.2.1 Introduction 151
3.2.2 Related Studies 152
3.2.3 Problem Definition 154
3.2.4 Deriving a Minimum Solution with a Single Vertical Line Pair 156
3.2.5 Error-Aware Ego-Motion Estimation Using Multiple Vertical Line Pairs 163
3.2.6 Algorithms 165
3.2.7 Experiments 168
3.2.8 Conclusion and Future Work 175
Acknowledgments 175
References 176
Chapter 3.3 - Planning and Obstacle Avoidance in Mobile Robotics 180
3.3.1 Introduction 180
3.3.2 Related Work 182
3.3.3 Navigation Architecture 184
3.3.4 Roaming Trails 190
3.3.5 Experimental Results 193
3.3.6 Conclusions 202
References 202
Chapter 3.4 - Monocular SLAM with Undelayed Initialization for an Indoor Robot 206
3.4.1 Introduction 207
3.4.2 EKF Framework 209
3.4.3 Implementation of SLAM 219
3.4.4 Simulation and Experiment 222
3.4.5 Conclusions and Future Work 229
Appendix Supplementary Data 230
References 230
Chapter 3.5 - Human-Centered Robot Navigation-Towards a Harmoniously Human–Robot Coexisting Environment 232
3.5.1 Introduction 233
3.5.2 Harmonious Rules 235
3.5.3 Various Sensitive Fields 236
3.5.4 Human-Centered Sensitive Navigation System Architecture 239
3.5.5 Human-Centered Sensitive Navigation 240
3.5.6 Simulations 250
3.5.7 Experimental Results 255
3.5.8 Conclusion and Future Work 261
References 263
Part 4 - 
266 
Chapter 4.1 - The State of the Art in Object Recognition for Household Services 268
4.1.1 Overview 268
4.1.2 Summary of Case Studies 274
References 277
Chapter 4.2 - A Side of Data with My Robot 280
4.2.1 Related Work 284
4.2.2 Contents and Collection Methodology 285
4.2.3 Contents: Robot Sensor Data 285
4.2.4 Annotations and Annotation Methodology 286
4.2.5 Annotation Methodology 288
4.2.6 Applications 291
4.2.7 Future Work 291
4.2.8 Related Work 293
4.2.9 Contents and Collection Methodology 293
4.2.10 Annotations and Annotation Methodology 295
4.2.11 Applications 295
4.2.12 Future Work 297
4.2.13 Related Work 299
4.2.14 Contents and Collection Methodology 299
4.2.15 Annotations and Annotation Methodology 301
4.2.16 Applications 301
References 305
Chapter 4.3 - Robust Recognition of Planar Mirrored Walls 308
4.3.1 Introduction 308
4.3.2 Related Work 309
4.3.3 Problem Definition 310
4.3.4 Modeling 311
4.3.5 Algorithm 314
4.3.6 Experiments 318
4.3.7 Conclusion and Future Work 321
Acknowledgments 321
References 321
Chapter 4.4 - Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot 324
4.4.1 Introduction 324
4.4.2 Datasets and Performance Metrics 328
4.4.3 Lowe's SIFT 332
4.4.4 Vocabulary Tree Method 340
4.4.5 Viola–Jones Boosting 349
4.4.6 Discussion 354
4.4.7 Conclusions 355
Acknowledgments 356
References 356
Part 5 - 
360 
Chapter 5.1 - The State of the Art in Grasping and Manipulation for Household Service 362
5.1.1 Target Detection 363
5.1.2 Planning 368
5.1.3 Control 372
5.1.4 Summary of Case Studies 374
References 374
Chapter 5.2 - A Geometric Approach to Robotic Laundry Folding 378
5.2.1 Introduction 379
5.2.2 Related Work 380
5.2.3 Problem Description 383
5.2.4 Fold Execution 386
5.2.5 Determining the Cloth Polygon 390
5.2.6 Experimental Results 397
5.2.7 Conclusion and Future Work 407
Funding 408
Appendix A: Proof of Theorem 1 409
Appendix B: Shape Models Used 410
Appendix C: Black Box Numerical Optimization 413
References 414
Chapter 5.3 - Robust Visual Servoing 418
5.3.1 Introduction 419
5.3.2 Motivation 419
5.3.3 Detection and Pose Estimation 421
5.3.4 Transportation: Coarse Visual Servoing 423
5.3.5 Model-Based Visual Servoing 435
5.3.6 Example Tasks 443
5.3.7 Conclusion 446
Acknowledgment 446
References 447
Chapter 5.4 - Implementation of Cognitive Controls for Robots 450
5.4.1 Introduction 451
5.4.2 Cognitive Control for Robots 451
5.4.3 The Working Memory System 454
5.4.4 The Role of CEA and FRA for Task Switching 458
5.4.5 Self-Motivated, Internal State-Based Action Selection Mechanism 462
5.4.6 Future Plans 469
5.4.7 Conclusions 470
Appendix 1. Spatial Attention and Action Selection 470
Appendix 2. Verbs and Adverbs for Behavior Execution 471
Appendix 3. Memory Contents during Work Memory Training 472
Appendix 4. Perception Encoding Used in FRA Experiment 473
Acknowledgments 474
References 474
Part 6 - 
476 
Chapter 6.1 - The State of the Art in Human–Robot Interaction for Household Services 478
6.1.1 Tactile HRI Systems 478
6.1.2 Summary of Case Studies 483
References 485
Chapter 6.2 - Evaluating the Robot Personality and Verbal Behavior of Domestic Robots Using Video-Based Studies 488
6.2.1 Introduction 489
6.2.2 VHRI Methodology 490
6.2.3 Experiments 491
6.2.4 Results 498
6.2.5 Discussion 503
6.2.6 Conclusions 504
Acknowledgments 505
References 505
Chapter 6.3 - Using Socially Assistive Human–Robot Interaction to Motivate Physical Exercise for Older Adults 508
6.3.1 Introduction 509
6.3.2 Related Work 510
6.3.3 SAR Approach 511
6.3.4 Robot Exercise System 513
6.3.5 Motivation Study I: Praise and Relational Discourse Effects 519
6.3.6 Motivation Study II: User Choice and Self-Determination 527
6.3.7 Conclusion 534
Acknowledgments 534
References 535
Chapter 6.4 - Toward a Human–Robot Symbiotic System 538
6.4.1 Introduction 538
6.4.2 Framework for Human–Humanoid Interaction 540
6.4.3 Robot Memory Data Structures 547
6.4.4 Current Applications 550
6.4.5 Conclusion 552
Acknowledgments 554
References 554
Index 556