Scenarios for Physical Robot-Environment Interaction

In this paper, we focus is on the interaction between robot and the dynamically changing environment. According to the proposed approach, a collision is determined and an appropriate scenario of behavior and response is chosen, considering the nature of interaction and location of the contact point....

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Bibliographic Details
Published in2018 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR) pp. 109 - 111
Main Authors Popov, Dmitry, Mikhel, Stanislav, Klimchik, Alexandr
Format Conference Proceeding
LanguageEnglish
Russian
Published IEEE 01.10.2018
Subjects
Automata
Classification algorithms
Collision avoidance
collision classification
collision detection
Heuristic algorithms
human-robot collaboration
industrial robot
Neural networks
obstacle avoidance
Service robots
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Summary:In this paper, we focus is on the interaction between robot and the dynamically changing environment. According to the proposed approach, a collision is determined and an appropriate scenario of behavior and response is chosen, considering the nature of interaction and location of the contact point. The neural network is used to classify the collision, and the finite automaton selects appropriate reaction algorithms. The developed approach was tested on the robot Kuka LBR IIWA 14.
DOI:10.1109/DCNAIR.2018.8589219