SESTOSENSO: Physical Cognition for Intelligent Control and Safe Human-Robot Interaction

Sestosenso为下一代协作机器人开发技术，这些机器人能够自适应不同的时变操作条件，并能够在协作或培训/教学需要人工干预时从自主到交互安全而顺利地适应。该项目提出了一种新的感知技术，从硬件到认知感知和控制层面，基于嵌入在机器人体内的接近和触觉传感器，提供对环境的统一代理-触觉感知，所需的安全和自主地控制机器人的动作和交互。Sestosenso的动机是将工人与机器人整合在一起的工业需求，以及对无需机器人外基础设施即可安全运行的机器人的需求，从而减少机器人安装时间和成本，并增加车间配置的灵活性。Sestosenso技术通过三个工业用例进行了演示：合作装配(汽车)、搬运和包装(物流)和合作收获(农业)。

Sestosenso develops technologies for the next generations of collaborative robots capable of self-adapting to different time-varying operational conditions and capable of safe and smooth adaptation from autonomous to interactive when human intervention is required either for collaboration or training/teaching. The project proposes a new sensing technology from the hardware and up to the cognitive perception and control levels, based on proximity and tactile sensors embedded in the robot body, providing a unified proxy-tactile perception of the environment, required to control the robot's actions and interactions, safely and autonomously. Sestosenso is motivated by the industrial need to integrate workers with robots and the need for robots that could operate safely without out-of-the-robot infrastructure, thus reducing robot setup times and costs and increasing the flexibility of the shopfloor configuration. The Sestosenso technology is demonstrated by three Use Cases of industrial interest: cooperative assembly (automotive), handling and packaging (logistics), and cooperative harvesting (agriculture)