How Hard Does a Robot Hit? Learning 3D Collision Mass Maps for Safe Human-Robot Interaction

Summary

Beschreibung You will build a 3D, posture-aware CMM for real 7-DoF robots by combining experiments, data processing, and machine learning: • Data: Run automated collision experiments on different 7-DoF robots and build a pipeline that turns raw force measurements into a clean effective mass dataset. • Learning: Predict the effective mass from collision location, direction, and posture by learning a correction to the physics-based model, with uncertainty estimates (e.g., Gaussian processes or neural networks) that keep the map on the safe side. • Active learning: Let the model choose where to measure next (e.g., Bayesian optimization) to minimize the number of collisions, with pre-training in simulation. • Application: Use the map to select the safest posture and the fastest safe velocity along a path on the real robot. Voraussetzungen 1. Programming in C++ 2. Basic robotics and robot kinematics knowledge 3. Self-motivated