Recurrent neural networks for inferring intentions in shared tasks for industrial collaborative robots
10.1109/RO-MAN47096.2020.9223587
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/335503
Tipus de documentText en actes de congrés
Data publicació2020
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteENTENDER EL MOVIMIENTO HUMANO PARA ADAPTAR EL COMPORTAMIENTO DE UN ROBOT (AEI-TIN2017-90086-R)
Abstract
Industrial robots are evolving to work closely with humans in shared spaces. Hence, robotic tasks are increasingly shared between humans and robots in collaborative settings. To enable a fluent human robot collaboration, robots need to predict and respond in real-time to worker's intentions. We present a method for early decision using force information. Forces are provided naturally by the user through the manipulation of a shared object in a collaborative task. The proposed algorithm uses a recurrent neural network to recognize operator's intentions. The algorithm is evaluated in terms of action recognition on a force dataset. It excels at detecting intentions when partial data is provided, enabling early detection and facilitating a quick robot reaction.
Descripció
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CitacióMaceira, M.; Olivares, A.; Alenyà, G. Recurrent neural networks for inferring intentions in shared tasks for industrial collaborative robots. A: IEEE International Symposium on Robot and Human Interactive Communication. "2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)". Institute of Electrical and Electronics Engineers (IEEE), 2020, p. 665-670. DOI 10.1109/RO-MAN47096.2020.9223587.
Versió de l'editorhttps://ieeexplore.ieee.org/document/9223587
Col·leccions
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [576]
- ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI - Ponències/Comunicacions de congressos [252]
- Doctorat en Automàtica, Robòtica i Visió - Ponències/Comunicacions de congressos [166]
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