A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration
Martina Lippi Giuseppe Gillini Alessandro Marino Filippo Arrichiello Martina Lippi Giuseppe Gillini Alessandro Marino Filippo Arrichiello
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context, both intentional and accidental contacts between human and robot might occur due to the complexity of tasks and environment, to the uncertainty of human behavio...