Table Of ContentSalvador 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
