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Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction

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/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
De Luca, AlessandroUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
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 Dates:2008-09-22 - 2008-09-26
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:31 Jul 2019 19:23

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