Addressing catastrophic forgetting in payload parameter identification using incremental ensemble learning.

Collaborative robots (cobots) are increasingly integrated into Industry 4.0 dynamic manufacturing environments that require frequent system reconfiguration due to changes in cobot paths and payloads. This necessitates fast methods for identifying payload inertial parameters to compensate the cobot controller and ensure precise and safe operation.

Symbolic-Based Recognition of Contact States for Learning Assembly Skills.

Imitation learning is gaining more attention because it enables robots to learn skills from human demonstrations. One of the major industrial activities that can benefit from imitation learning is the learning of new assembly processes. An essential characteristic of an assembly skill is its different contact states (CS).