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Detection of Collaboration and Collision Events during Contact Task Execution

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/
Dokumentart:Konferenzbeitrag (Poster)
Zusätzliche Informationen:Factory of the Future
Titel:Detection of Collaboration and Collision Events during Contact Task Execution
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Franzel, FelixTechnical University of Munich (TUM)https://orcid.org/0000-0003-0130-7306NICHT SPEZIFIZIERT
Eiband, ThomasThomas.Eiband (at) dlr.dehttps://orcid.org/0000-0002-1074-9504NICHT SPEZIFIZIERT
Lee, DongheuiDongheui.Lee (at) dlr.dehttps://orcid.org/0000-0003-1897-7664NICHT SPEZIFIZIERT
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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