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Autonomous Robots
Erschienen in: Autonomous Robots 3/2019

13.04.2018

Multimodal anomaly detection for assistive robots

verfasst von: Daehyung Park, Hokeun Kim, Charles C. Kemp

Erschienen in: Autonomous Robots | Ausgabe 3/2019

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Abstract

Detecting when something unusual has happened could help assistive robots operate more safely and effectively around people. However, the variability associated with people and objects in human environments can make anomaly detection difficult. We previously introduced an algorithm that uses a hidden Markov model (HMM) with a log-likelihood detection threshold that varies based on execution progress. We now present an improved version of our previous algorithm (HMM-D) and introduce a new algorithm based on Gaussian process regression (HMM-GP). We also present a new and more thorough evaluation of 8 anomaly detection algorithms with force, sound, and kinematic signals collected from a robot closing microwave doors, latching a toolbox, scooping yogurt, and feeding yogurt to able-bodied participants. Overall, HMM-GP had the highest performance in terms of area under the curve for these real-world tasks, and multiple modalities improved performance with some anomalies being better detected with particular modalities. With synthetic anomalies, HMM-D exhibited shorter detection delays and outperformed HMM-GP with high-magnitude anomalies. In general, higher-magnitude synthetic anomalies tended to be detected more rapidly.
Vorheriger Artikel Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor
Nächster Artikel Goal state driven trajectory optimization

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Fußnoten
1
The state path of an HMM always starts from the first hidden state, \(\mathbf{z}^1\), setting \(\pi =\{1, 0,\ldots , 0\}\).
 
2
The symbols, f, s, and k, in the parentheses represent force, sound, and kinematic modalities, respectively.
 
3
Participants were 3 males and 5 females. Their age ranges from 19 to 35. They are either attending or have graduated college.
 
4
Kinematic modality refers to the task-kinematic input measured by the encoder and vision sensors (i.e, relative distance or orientation between the PR2 and a target object or human).
 
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Metadaten
Titel
Multimodal anomaly detection for assistive robots
verfasst von
Daehyung Park
Hokeun Kim
Charles C. Kemp
Publikationsdatum
13.04.2018
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-018-9733-6

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