چکیده مقاله
A visionless robot classifier has been developed in order to enable a robot to decide when to release an object in a robot to human object handover task The robot has to release the object when it is stably grasped by the human and is safe to be released Decision making is based on the forces applied to servo motors in robot joints The system determines whether the robot should open its gripper to release an object or retain it A multi layered perceptron MLP algorithm was utilized to train and test the model for force classification Utilizing a collected dataset, the algorithm facilitated the development of a classifier capable of deciding whether to release an object Experimental evaluations, where a visionless robot releases an object and hands it to a human, confirm that the machine learning system can effectively generate a model that makes correct decisions solely based on applied forces
کلیدواژهها
نویسندگان
Ali Asadi Khanghah
Department of Electrical and computer Engineering, University of Mohaghegh Ardabili, Ardabil, Iran
Mahdi Nooshyar
Department of Electrical and computer Engineering, University of Mohaghegh Ardabili, Ardabil, Iran
Amir Reza Zare
Department of Electrical and computer Engineering, University of Mohaghegh Ardabili, Ardabil, Iran
Adel Akbarimajd
Department of Electrical and computer Engineering, University of Mohaghegh Ardabili, Ardabil, Iran
شیوه ارجاع
Asadi Khanghah, Ali and Nooshyar, Mahdi and Zare, Amir Reza and Akbarimajd, Adel,1403,Visionless neural network system to determine safe release time in robot to human object handover,The 10th International Conference on Industrial and Systems Engineering,Mashhad
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