Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin Olimpiu (2017) Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Transactions on Robotics (99), pp. 1-21. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2017.2723903. ISSN 1552-3098.
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Abstract
Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.
Item URL in elib: | https://elib.dlr.de/114697/ | ||||||||||||||||
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Document Type: | Article | ||||||||||||||||
Title: | Robot Collisions: A Survey on Detection, Isolation, and Identification | ||||||||||||||||
Authors: |
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Date: | 5 October 2017 | ||||||||||||||||
Journal or Publication Title: | IEEE Transactions on Robotics | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | No | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||
DOI: | 10.1109/TRO.2017.2723903 | ||||||||||||||||
Page Range: | pp. 1-21 | ||||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | Collision detection, collision identification, collision isolation, flexible joint manipulators, human-friendly robotics, physical human–robot interaction (pHRI), safe robotics | ||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
HGF - Program: | Space | ||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||||||
Deposited On: | 07 Dec 2017 16:26 | ||||||||||||||||
Last Modified: | 11 Sep 2023 13:22 |
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