Safe Close-Proximity and Physical Human-Robot Interaction Using Industrial Robots
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Industrial robots have been employed worldwide in the manufacturing sector for performing tasks quickly, repeatedly and accurately in relatively static environments for over 30 years. In recent years, close physical interaction between industrial robots and human operators has attracted researchers' attention and encouraged a number of technological innovations to turn these robots into human-robot platforms. In this work a specially designed compliant wrist is developed to support dexterous robotic interaction with live proximity and contact feedback. The compliant wrist incorporates a level of compliance into an initially non-compliant manipulator robot which allows the robot to dynamically adapt to the surfaces it approaches or touches. Furthermore, to facilitate human -- robot interactions, the robot must be able to adapt its behaviour to the human partner. Therefore, a real-time path planning method is developed to generate online motion, adapt the robot to dynamic changes in the environment and ensure smooth interactions. The performance of the proposed method is demonstrated through experimental results on a CRS-F3 manipulator.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it