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Table of Contents
Intro
Program Committee
Preface
Contents
Collaborative Robots
Evaluation of Software Solutions for Risk Assessment Focusing on Human-Robot Collaboration
1 Introduction
2 Risk Assessment
3 Study Procedure
3.1 Selection of Software Solutions Included in the Study
3.2 Study Realization
3.3 Definition of Evaluation Criteria
3.4 Evaluation System and Weighting
4 Evaluation Results
4.1 Expert Requirements
4.2 Suitability for HRC
5 Discussion
6 Conclusion
References
Goal Inference via Corrective Path Demonstration for Human-Robot Collaboration
1 Introduction
2 Overview of the Proposed System
2.1 Assumed Environment
2.2 Flow of the Proposed System
3 Learning from Corrective Path Demonstration
3.1 Position Samples Generation
3.2 Learning Relations with Surrounding Objects Probabilistically
4 Goal Inference
4.1 Partial Probability Map Calculation
4.2 Integration and Goal Inference
5 Experiment
5.1 Experimental Setting
5.2 Result
6 Conclusion
References
Skeleton-Based Action and Gesture Recognition for Human-Robot Collaboration
1 Introduction
2 Related Works
3 Methods
3.1 Pose Estimation
3.2 3D Pose Estimation
3.3 Action and Gesture Recognition
3.4 Ensemble Averaging of the Classifiers Predictions
4 IAS-Lab Collaborative HAR Dataset
5 Experimental Results
5.1 Pre-training on the NTU RGB+D Dataset
5.2 Fine-Tuning on the IAS-Lab Collaborative HAR Dataset
5.3 Ensemble Results Using Body and Hands Models
6 Conclusions
References
Benchmarking Variable-Stiffness Grippers
1 Introduction
2 State of the Art
3 Test Description
3.1 Adaptation Test
3.2 Finger Force Test
3.3 Grasp Strength Test
3.4 Gripper Payload Test
4 Experiments
4.1 Variable-Stiffness Gripper (VSGrip)
4.2 Piston Gripper (PistGrip)
4.3 Parallel Gripper (ParGrip)
4.4 Stiffness States
5 Results and Discussions
5.1 Object Grasping Test
5.2 Finger Force Test
5.3 Grasp Strength Test
5.4 Gripper Payload Test
6 Conclusions
References
Evaluation of Safe Reinforcement Learning with CoMirror Algorithm in a Non-Markovian Reward Problem
1 Introduction
2 Related Work
3 Preliminaries and Problem Setting
4 CoMirror Descent Search
5 Experiments
5.1 Experiment with Non-Markovian Reward and Cost
5.2 Result
5.3 Discussion
6 Conclusion
References
Validation of Shared Intelligence Approach for Teleoperating Telepresence Robots Through Inaccurate Interfaces
1 Introduction
2 Shared Intelligence
3 Methods
3.1 Participants
3.2 User's Interfaces
3.3 Telepresence Platform
3.4 Experiment
4 Results
5 Conclusion
References
Uncertainty Estimation for Safe Human-Robot Collaboration Using Conservation Measures
1 Introduction
2 Uncertainty and Safety in HRC
3 Methodology
3.1 Problem Statement
3.2 Classification of Uncertainties
Program Committee
Preface
Contents
Collaborative Robots
Evaluation of Software Solutions for Risk Assessment Focusing on Human-Robot Collaboration
1 Introduction
2 Risk Assessment
3 Study Procedure
3.1 Selection of Software Solutions Included in the Study
3.2 Study Realization
3.3 Definition of Evaluation Criteria
3.4 Evaluation System and Weighting
4 Evaluation Results
4.1 Expert Requirements
4.2 Suitability for HRC
5 Discussion
6 Conclusion
References
Goal Inference via Corrective Path Demonstration for Human-Robot Collaboration
1 Introduction
2 Overview of the Proposed System
2.1 Assumed Environment
2.2 Flow of the Proposed System
3 Learning from Corrective Path Demonstration
3.1 Position Samples Generation
3.2 Learning Relations with Surrounding Objects Probabilistically
4 Goal Inference
4.1 Partial Probability Map Calculation
4.2 Integration and Goal Inference
5 Experiment
5.1 Experimental Setting
5.2 Result
6 Conclusion
References
Skeleton-Based Action and Gesture Recognition for Human-Robot Collaboration
1 Introduction
2 Related Works
3 Methods
3.1 Pose Estimation
3.2 3D Pose Estimation
3.3 Action and Gesture Recognition
3.4 Ensemble Averaging of the Classifiers Predictions
4 IAS-Lab Collaborative HAR Dataset
5 Experimental Results
5.1 Pre-training on the NTU RGB+D Dataset
5.2 Fine-Tuning on the IAS-Lab Collaborative HAR Dataset
5.3 Ensemble Results Using Body and Hands Models
6 Conclusions
References
Benchmarking Variable-Stiffness Grippers
1 Introduction
2 State of the Art
3 Test Description
3.1 Adaptation Test
3.2 Finger Force Test
3.3 Grasp Strength Test
3.4 Gripper Payload Test
4 Experiments
4.1 Variable-Stiffness Gripper (VSGrip)
4.2 Piston Gripper (PistGrip)
4.3 Parallel Gripper (ParGrip)
4.4 Stiffness States
5 Results and Discussions
5.1 Object Grasping Test
5.2 Finger Force Test
5.3 Grasp Strength Test
5.4 Gripper Payload Test
6 Conclusions
References
Evaluation of Safe Reinforcement Learning with CoMirror Algorithm in a Non-Markovian Reward Problem
1 Introduction
2 Related Work
3 Preliminaries and Problem Setting
4 CoMirror Descent Search
5 Experiments
5.1 Experiment with Non-Markovian Reward and Cost
5.2 Result
5.3 Discussion
6 Conclusion
References
Validation of Shared Intelligence Approach for Teleoperating Telepresence Robots Through Inaccurate Interfaces
1 Introduction
2 Shared Intelligence
3 Methods
3.1 Participants
3.2 User's Interfaces
3.3 Telepresence Platform
3.4 Experiment
4 Results
5 Conclusion
References
Uncertainty Estimation for Safe Human-Robot Collaboration Using Conservation Measures
1 Introduction
2 Uncertainty and Safety in HRC
3 Methodology
3.1 Problem Statement
3.2 Classification of Uncertainties