Haddadin, Sami and Albu-Schäffer, Alin and De Luca, Alessandro and Hirzinger, Gerd (2008) Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction. In: IEEE/RSJ, pp. 3356-3363. International Conference on Intelligent Robots and Systems (IROS 2008), 2008-09-22 - 2008-09-26, Nice (Frankreich).
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Abstract
In the framework of physical Human-Robot Interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the feasibility and effectiveness of the proposed approach. While a subjective “safety” feeling is experienced by users when being able to naturally stop the robot in autonomous motion, a quantitative analysis of different reaction strategies was lacking. In order to compare these strategies on an objective basis, a mechanical verification platform has been built. The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans. Evaluations of impacts between robot and human arm or chest up to a maximum robot velocity of 2.7 m/s are presented.
Item URL in elib: | https://elib.dlr.de/55653/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||
Title: | Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction | ||||||||||||||||||||
Authors: |
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Date: | 2008 | ||||||||||||||||||||
Journal or Publication Title: | IEEE/RSJ | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
Page Range: | pp. 3356-3363 | ||||||||||||||||||||
Status: | Accepted | ||||||||||||||||||||
Keywords: | - | ||||||||||||||||||||
Event Title: | International Conference on Intelligent Robots and Systems (IROS 2008) | ||||||||||||||||||||
Event Location: | Nice (Frankreich) | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
Event Start Date: | 22 September 2008 | ||||||||||||||||||||
Event End Date: | 26 September 2008 | ||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||||
HGF - Program: | Space (old) | ||||||||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Research area: | Space | ||||||||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Klauer, Monika | ||||||||||||||||||||
Deposited On: | 20 Oct 2008 | ||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:19 |
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