Manipulation monitoring and robot intervention in complex manipulation sequences

Abstract

Compared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and inattention, which may cause errors. This motivates automated monitoring systems that verify the correct execution of manipulation sequences. To be practical, such a monitoring system should not require laborious programming.Peer Reviewe