Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

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OriginalspracheEnglisch
Titel des SammelwerksHuman-Friendly Robotics 2023
UntertitelHFR: 16th International Workshop on Human-Friendly Robotics
Herausgeber/-innenChristina Piazza, Patricia Capsi-Morales, Luis Figueredo, Manuel Keppler, Hinrich Schütze
ErscheinungsortCham
Seiten137-150
Seitenumfang14
Auflage1.
ISBN (elektronisch)978-3-031-55002-7
PublikationsstatusVeröffentlicht - 10 März 2024
Veranstaltung16th International Workshop on Human-Friendly Robotics (HFR 2023) - München, Deutschland
Dauer: 20 Sept. 202321 Sept. 2023

Publikationsreihe

NameSpringer Proceedings in Advanced Robotics (SPAR)
Nummer29
ISSN (Print)2511-1256
ISSN (elektronisch)2511-1264

Abstract

In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified, reactions might occur that make the true contact case more dangerous. This work analyzes data-driven modeling based on physically modeled features like estimated external forces for clamping and collision classification with a real parallel robot. The prediction reliability of a feedforward neural network is investigated. Quantification of the classification uncertainty enables the distinction between safe versus unreliable classifications and optimal reactions like a retraction movement for collisions, structure opening for the clamping joint, and a fallback reaction in the form of a zero-g mode. This hypothesis is tested with experimental data of clamping and collision cases by analyzing dangerous misclassifications and then reducing them by the proposed uncertainty quantification. Finally, it is investigated how the approach of this work influences correctly classified clamping and collision scenarios.

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Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. / Mohammad, Aran; Muscheid, Hendrik; Schappler, Moritz et al.
Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. Hrsg. / Christina Piazza; Patricia Capsi-Morales; Luis Figueredo; Manuel Keppler; Hinrich Schütze. 1. Aufl. Cham, 2024. S. 137-150 (Springer Proceedings in Advanced Robotics (SPAR); Nr. 29).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Mohammad, A, Muscheid, H, Schappler, M & Seel, T 2024, Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. in C Piazza, P Capsi-Morales, L Figueredo, M Keppler & H Schütze (Hrsg.), Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. 1. Aufl., Springer Proceedings in Advanced Robotics (SPAR), Nr. 29, Cham, S. 137-150, 16th International Workshop on Human-Friendly Robotics (HFR 2023), München, Deutschland, 20 Sept. 2023. https://doi.org/10.1007/978-3-031-55000-3_10
Mohammad, A., Muscheid, H., Schappler, M., & Seel, T. (2024). Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. In C. Piazza, P. Capsi-Morales, L. Figueredo, M. Keppler, & H. Schütze (Hrsg.), Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics (1. Aufl., S. 137-150). (Springer Proceedings in Advanced Robotics (SPAR); Nr. 29).. https://doi.org/10.1007/978-3-031-55000-3_10
Mohammad A, Muscheid H, Schappler M, Seel T. Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. in Piazza C, Capsi-Morales P, Figueredo L, Keppler M, Schütze H, Hrsg., Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. 1. Aufl. Cham. 2024. S. 137-150. (Springer Proceedings in Advanced Robotics (SPAR); 29). doi: 10.1007/978-3-031-55000-3_10
Mohammad, Aran ; Muscheid, Hendrik ; Schappler, Moritz et al. / Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. Hrsg. / Christina Piazza ; Patricia Capsi-Morales ; Luis Figueredo ; Manuel Keppler ; Hinrich Schütze. 1. Aufl. Cham, 2024. S. 137-150 (Springer Proceedings in Advanced Robotics (SPAR); 29).
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