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Detection of Collaboration and Collision Events during Contact Task Execution

Franzel, Felix and Eiband, Thomas and Lee, Dongheui (2021) Detection of Collaboration and Collision Events during Contact Task Execution. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020, pp. 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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Official URL: https://ieeexplore.ieee.org/document/9555677


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.

Item URL in elib:https://elib.dlr.de/146271/
Document Type:Conference or Workshop Item (Poster)
Additional Information:Factory of the Future
Title:Detection of Collaboration and Collision Events during Contact Task Execution
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Franzel, FelixTechnical University of Munich (TUM)https://orcid.org/0000-0003-0130-7306UNSPECIFIED
Eiband, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-1074-9504UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:July 2021
Journal or Publication Title:20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 376-383
Keywords:Collision Detection, Collaboration, Human-robot interaction, Humanoid robots, Robot sensing systems, Safety
Event Title:2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
Event Location:Munich, Germany
Event Type:international Conference
Event Start Date:19 July 2021
Event End Date:21 July 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intuitive human-robot interface [RO], R - Interacting Robot Control [RO], R - Autonomous learning robots [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Eiband, Thomas
Deposited On:26 Nov 2021 11:09
Last Modified:24 Apr 2024 20:45

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