Exploring Transformers and Visual Transformers for Force Prediction in Human-Robot Collaborative Transportation Tasks
In this paper, we analyze the possibilities offered by Deep Learning State-of-the-Art architectures such as Transformers and Visual Transformers in generating a prediction of the human's force in a Human-Robot collaborative object transportation task at a middle distance. We outperform our prev...
| Autores: | , |
|---|---|
| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/387889 |
| Acceso en línea: | http://hdl.handle.net/10261/387889 https://api.elsevier.com/content/abstract/scopus_id/85202434002 |
| Access Level: | acceso abierto |
| Palabra clave: | Force Prediction Human-in-the-Loop Object Transportation Physical Human-Robot Interaction |
| Sumario: | In this paper, we analyze the possibilities offered by Deep Learning State-of-the-Art architectures such as Transformers and Visual Transformers in generating a prediction of the human's force in a Human-Robot collaborative object transportation task at a middle distance. We outperform our previous predictor by achieving a success rate of 93.8% in testset and 90.9% in real experiments with 21 volunteers predicting in both cases the force that the human will exert during the next 1 s. A modification in the architecture allows us to obtain a second output from the model with a velocity prediction, which allows us to improve the capabilities of our predictor if it is used to estimate the trajectory that the human-robot pair will follow. An ablation test is also performed to verify the relative contribution to performance of each input. |
|---|