eprintid: 10197169
rev_number: 7
eprint_status: archive
userid: 699
dir: disk0/10/19/71/69
datestamp: 2024-09-20 11:06:28
lastmod: 2024-09-20 11:06:28
status_changed: 2024-09-20 11:06:28
type: proceedings_section
metadata_visibility: show
sword_depositor: 699
creators_name: Fusco, A
creators_name: Modugno, V
creators_name: Kanoulas, D
creators_name: Rizzo, A
creators_name: Cognetti, M
title: Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction
ispublished: pub
divisions: UCL
divisions: B04
divisions: F48
keywords: Training, 
Robot motion, 
Transducers, 
Accuracy, 
Human-robot interaction, 
Kinematics, 
Transformers
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: In this paper, we propose a transformer-based architecture for predicting contact forces during a physical human-robot interaction. Our Neural Network is composed of two main parts: a Multi-Layer Perceptron called Transducer and a Transformer. The former estimates, based on the kinematic data from a motion capture suit, the current contact forces. The latter predicts - taking as input the same kinematic data and the output of the Transducer - the human motions and the contact forces over a time window in the future. We validated our approach by testing the network on directions of motions that were not provided in the training set. We also compared our approach to a purely Transformer-based network, showing a better prediction accuracy of the contact forces.
date: 2024-08-08
date_type: published
publisher: IEEE
official_url: https://doi.org/10.1109/ICRA57147.2024.10611211
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2310425
doi: 10.1109/ICRA57147.2024.10611211
isbn_13: 979-8-3503-8457-4
lyricists_name: Kanoulas, Dimitrios
lyricists_id: DKANO15
actors_name: Kanoulas, Dimitrios
actors_id: DKANO15
actors_role: owner
full_text_status: public
pres_type: paper
publication: Proceedings - IEEE International Conference on Robotics and Automation
place_of_pub: Yokohama, Japan
pagerange: 3161-3167
event_title: 2024 IEEE International Conference on Robotics and Automation (ICRA)
event_dates: 13 May 2024 - 17 May 2024
book_title: Proceedings - IEEE International Conference on Robotics and Automation
citation:        Fusco, A;    Modugno, V;    Kanoulas, D;    Rizzo, A;    Cognetti, M;      (2024)    Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction.                     In:  Proceedings - IEEE International Conference on Robotics and Automation.  (pp. pp. 3161-3167).  IEEE: Yokohama, Japan.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10197169/1/icra_2024_fusco.pdf