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Model-free robot anomaly detection

Hornung, Rachel and Urbanek, Holger and Klodmann, Julian and Osendorfer, Christian and Smagt van der, P. (2014) Model-free robot anomaly detection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3676-3683. IROS2014, 14-18 Sept 2014, Chicago, USA.

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Abstract

Safety is one of the key issues in the use of robots, especially when human–robot interaction is targeted. Although unforeseen environment situations, such as collisions or unexpected user interaction, can be handled with specially tailored control algorithms, hard- or software failures typically lead to situations where too large torques are controlled, which cause an emergency state: hitting an end stop, exceeding a torque, and so on—which often halts the robot when it is too late. No sufficiently fast and reliable methods exist which can early detect faults in the abundance of sensor and controller data. This is especially difficult since, in most cases, no anomaly data are available. In this paper we introduce a new robot anomaly detection system (RADS) which can cope with abundant data in which no or very little anomaly information is present.

Item URL in elib:https://elib.dlr.de/90266/
Document Type:Conference or Workshop Item (Other)
Title:Model-free robot anomaly detection
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hornung, RachelDLRUNSPECIFIED
Urbanek, HolgerDLRUNSPECIFIED
Klodmann, JulianDLRUNSPECIFIED
Osendorfer, ChristianTechnische Universität MünchenUNSPECIFIED
Smagt van der, P.Technische Universität MünchenUNSPECIFIED
Date:17 September 2014
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3676-3683
Status:Published
Keywords:anomaly detection, model-free, machine learning, rbf, negative selection, dimensionality reduction, back-projection
Event Title:IROS2014
Event Location:Chicago, USA
Event Type:international Conference
Event Dates:14-18 Sept 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Hornung, Rachel
Deposited On:26 Sep 2014 18:44
Last Modified:31 Jul 2019 19:47

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