Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction
Alessia Fusco,Valerio Modugno,Dimitrios Kanoulas,Alessandro Rizzo,Marco Cognetti,Alessia Fusco,Valerio Modugno,Dimitrios Kanoulas,Alessandro Rizzo,Marco Cognetti
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 kin...
