DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Robot Collisions: A Survey on Detection, Isolation, and Identification

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.

Full text not available from this repository.


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/
Document Type:Article
Title:Robot Collisions: A Survey on Detection, Isolation, and Identification
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Haddadin, SamiLeibniz University of HannoverUNSPECIFIEDUNSPECIFIED
De Luca, Alessandrouniversita di roma “la sapienza”UNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115744
Date:5 October 2017
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-21
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.