Exploring Transformers and Visual Transformers for Force Prediction in Human-Robot Collaborative Transportation Tasks
J. E. Domínguez-Vidal,Alberto Sanfeliu,J. E. Domínguez-Vidal,Alberto Sanfeliu
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 volu...
