Inferring human operators’ actions in shared collaborative tasks plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and robots not only should share space, but also forces and the execution of a task. In this article, we present a robotic system that is able to identify different human’s intentions and to adapt its behavior consequently, only employing force data. In order to accomplish this aim, three major contributions are presented: (a) a force based operator’s intention recognition system based on data from only two users; (b) a force based dataset of physical human–robot interaction; and (c) validation of the whole system with 15 people in a scenario inspired by a realistic industrial application. This work is an important step towards a more natural and user-friendly manner of physical human–robot interaction in scenarios where humans and robots collaborate in the accomplishment of a task. ; This work is supported by the Regional Catalan Agency ACCIÓthrough the RIS3CAT2016 project SIMBIOTS(COMRDI16-1-0017) and the Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI (Institut de Robòtica i Informàtica Industrial)(MDM-2016-0656) and the HuMoUR project TIN2017-90086-R (AEI/FEDER, UE).


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    On inferring intentions in shared tasks for industrial collaborative robots



    Erscheinungsdatum :

    2019-11-07



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Recurrent neural networks for inferring intentions in shared tasks for industrial collaborative robots

    Maceira Duch, Marc / Olivares-Alarcos, Alberto / Alenyà, Guillem | BASE | 2020

    Freier Zugriff

    Collaborative Application Between Robots for Industrial Environments

    Horatiu, Roibu / Trasculescu, Andrei Costin / Cristian Resceanu, Ionut et al. | IEEE | 2021


    INFERRING DRIVER INTENTIONS USING A DRIVER MODEL BASED ON QUEUING NETWORK

    Bi, L. / Yang, X. / Wang, C. et al. | British Library Conference Proceedings | 2013


    Inferring driver intentions using a driver model based on queuing network

    Bi, Luzheng / Yang, Xuerui / Wang, Cuie | IEEE | 2013


    Collaborative Robots and Industrial Revolution 4.0 (IR 4.0)

    Sherwani, F. / Asad, Muhammad Mujtaba / Ibrahim, B.S.K.K. | IEEE | 2020