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Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy

Iskandar, Maged and Eiberger, Oliver and Albu-Schäffer, Alin and De Luca, Alessandro and Dietrich, Alexander (2021) Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 30 May - 5 June 2021, Xi' an, China. ISBN 978-172819077-8. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9561677

Abstract

Physical human-robot interaction is known to be a crucial aspect in modern lightweight robotics. Herein, the estimation of external interactions is essential for the effective and safe collaboration. In this work, an extended momentum-based disturbance observer is presented which includes the sensing redundancy related to additional force-torque measurements. The observer eliminates the need for acceleration measurements/estimates and it is able to accurately reconstruct multiple simultaneous contact locations. Moreover, it provides uncoupled, configuration-independent, and singularity-free estimates of the external forces. The performance of the approach is experimentally validated on the SARA robot, the new generation of DLR lightweight robots, involving high resolution force-torque sensors in a redundant arrangement.

Item URL in elib:https://elib.dlr.de/144160/
Document Type:Conference or Workshop Item (Lecture, Speech)
Title:Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Iskandar, MagedMaged.Iskandar (at) dlr.dehttps://orcid.org/0000-0003-0644-0659
Eiberger, OliverOliver.Eiberger (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
De Luca, AlessandroUniversita di Roma “La Sapienza”https://orcid.org/0000-0002-0713-5608
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Date:2021
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:1050-4729
ISBN:978-172819077-8
Status:Published
Keywords:collision detection, collision identification, collision localization, robot safety, human-robot collaboration, physical human robot interaction, momentum-based observer, real-time contact point localization
Event Title:2021 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Xi' an, China
Event Type:international Conference
Event Dates:30 May - 5 June 2021
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Lightweight robotics [RO], R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:07 Oct 2021 09:43
Last Modified:25 Mar 2022 10:35

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