This dataset contains force and torque measurements on a robot after failure detection. Each failure is characterized by 15 force/torque samples collected at regular time intervals starting immediately after failure detection.
Luis Seabra Lopes and Luis M. Camarinha-Matos Universidade Nova de Lisboa, Monte da Caparica, PortugalDate Donated: April 23, 1999
All features are numeric although they are integer valued only. Each feature represents a force or a torque measured after failure detection; each failure instance is characterized in terms of 15 force/torque samples collected at regular time intervals starting immediately after failure detection; The total observation window for each failure instance was of 315 ms.Each example is described as follows:
class Fx1 Fy1 Fz1 Tx1 Ty1 Tz1 Fx2 Fy2 Fz2 Tx2 Ty2 Tz2 ...... Fx15 Fy15 Fz15 Tx15 Ty15 Tz15
where Fx1 ... Fx15 is the evolution of force Fx in the observation window, the same for Fy, Fz and the torques; there is a total of 90 features.
-- LP1: 88 -- LP2: 47 -- LP3: 47 -- LP4: 117 -- LP5: 164
-- LP1: 24% normal 19% collision 18% front collision 39% obstruction -- LP2: 43% normal 13% front collision 15% back collision 11% collision to the right 19% collision to the left -- LP3: 43% ok 19% slightly moved 32% moved 6% lost -- LP4: 21% normal 62% collision 18% obstruction -- LP5: 27% normal 16% bottom collision 13% bottom obstruction 29% collision in part 16% collision in tool
class Fx1 Fy1 Fz1 Tx1 Ty1 Tz1 Fx2 Fy2 Fz2 Tx2 Ty2 Tz2 ...... Fx15 Fy15 Fz15 Tx15 Ty15 Tz15where Fx1 ... Fx15 is the evolution of force Fx in the observation window, the same for Fy, Fz and the torques; there is a total of 90 features.
Seabra Lopes, L. (1997) "Robot Learning at the Task Level: a Study in the Assembly Domain", Ph.D. thesis, Universidade Nova de Lisboa, Portugal.
Seabra Lopes, L. and L.M. Camarinha-Matos (1998) Feature Transformation Strategies for a Robot Learning Problem, "Feature Extraction, Construction and Selection. A Data Mining Perspective", H. Liu and H. Motoda (edrs.), Kluwer Academic Publishers.
Camarinha-Matos, L.M., L. Seabra Lopes, and J. Barata (1996) Integration and Learning in Supervision of Flexible Assembly Systems, "IEEE Transactions on Robotics and Automation", 12 (2), 202-219.