Franzel, Felix und Eiband, Thomas und Lee, Dongheui (2021) Detection of Collaboration and Collision Events during Contact Task Execution. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020, Seiten 376-383. IEEE. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021-07-19 - 2021-07-21, Munich, Germany. doi: 10.1109/HUMANOIDS47582.2021.9555677. ISBN 978-172819372-4. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/9555677
Kurzfassung
This work introduces a contact event pipeline to distinguish task-contact from Human-Robot interaction and collision during task execution. The increasing need for close proximity physical human-robot interaction (pHRI) in the private, health and industrial sector demands for new safety solutions. One of the most important issues regarding safe collaboration is the robust recognition and classification of contacts between human and robot. A solution is designed, that enables simple task teaching and accurate contact monitoring during task execution. Besides an external force and torque sensor, only proprioceptive data is used for the contact evaluation. An approach based on demonstrated task knowledge and the offset resulting from human interaction is designed to distinguish contact events from normal execution by a contact event detector. A contact type classifier implemented as Support Vector Machine is trained with the identified events. The system is set up to quickly identify contact incidents and enable appropriate robot reactions. An offline evaluation is conducted with data recorded from intended and unintended contacts as well as examples of task-contacts like object manipulation and environmental interactions. The system's performance and its high responsiveness are evaluated in different experiments including a real world task.
elib-URL des Eintrags: | https://elib.dlr.de/146271/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Zusätzliche Informationen: | Factory of the Future | ||||||||||||||||
Titel: | Detection of Collaboration and Collision Events during Contact Task Execution | ||||||||||||||||
Autoren: |
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Datum: | Juli 2021 | ||||||||||||||||
Erschienen in: | 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/HUMANOIDS47582.2021.9555677 | ||||||||||||||||
Seitenbereich: | Seiten 376-383 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||
ISBN: | 978-172819372-4 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Collision Detection, Collaboration, Human-robot interaction, Humanoid robots, Robot sensing systems, Safety | ||||||||||||||||
Veranstaltungstitel: | 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) | ||||||||||||||||
Veranstaltungsort: | Munich, Germany | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 19 Juli 2021 | ||||||||||||||||
Veranstaltungsende: | 21 Juli 2021 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intuitive Mensch-Roboter Schnittstelle [RO], R - Interagierende Robotersteuerung [RO], R - Autonome, lernende Roboter [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Eiband, Thomas | ||||||||||||||||
Hinterlegt am: | 26 Nov 2021 11:09 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:45 |
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