Nothing Special   »   [go: up one dir, main page]

Franzel et al., 2021 - Google Patents

Detection of collaboration and collision events during contact task execution

Franzel et al., 2021

View PDF
Document ID
7870504950748370282
Author
Franzel F
Eiband T
Lee D
Publication year
Publication venue
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

External Links

Snippet

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 …
Continue reading at elib.dlr.de (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Similar Documents

Publication Publication Date Title
Wang et al. Controlling object hand-over in human–robot collaboration via natural wearable sensing
Ciocarlie et al. Towards reliable grasping and manipulation in household environments
US9403273B2 (en) Rapid robotic imitation learning of force-torque tasks
Golz et al. Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction
Liarokapis et al. Unplanned, model-free, single grasp object classification with underactuated hands and force sensors
Peer et al. Multi-fingered telemanipulation-mapping of a human hand to a three finger gripper
Franzel et al. Detection of collaboration and collision events during contact task execution
Lee et al. Assembly process monitoring algorithm using force data and deformation data
Hossain et al. Pick-place of dynamic objects by robot manipulator based on deep learning and easy user interface teaching systems
Suzuki et al. Grasping of unknown objects on a planar surface using a single depth image
Calli et al. Learning modes of within-hand manipulation
Bekiroglu et al. Predicting slippage and learning manipulation affordances through gaussian process regression
Nguyen et al. Merging physical and social interaction for effective human-robot collaboration
Jha et al. Generalizable human-robot collaborative assembly using imitation learning and force control
Regoli et al. Controlled tactile exploration and haptic object recognition
Eiband et al. Identification of common force-based robot skills from the human and robot perspective
Lin et al. Grasp mapping using locality preserving projections and knn regression
Mazhitov et al. Human–robot handover with prior-to-pass soft/rigid object classification via tactile glove
Schiebener et al. Discovery, segmentation and reactive grasping of unknown objects
Yuan et al. Multi-step recurrent q-learning for robotic velcro peeling
Perico et al. Learning robust manipulation tasks involving contact using trajectory parameterized probabilistic principal component analysis
Romero et al. Modeling and evaluation of human-to-robot mapping of grasps
US9613180B1 (en) Robotic control device and method for manipulating a hand-held tool
Ford et al. Tactile-driven gentle grasping for human-robot collaborative tasks
Sarantopoulos et al. Grasping flat objects by exploiting non-convexity of the object and support surface