Sensorless Robot Collision Detection and Hybrid Force/Motion Control

By Alessandro De Luca, R. Mattone. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

409 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, background): “is based on the use of residual signals proposed in [89].”
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm (2006, methodology): “Note that σ can be computed using the measured joint position q and velocity ˙ q (possibly obtained through numerical differentiation) and the commanded motor torque τ .”
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction (2008, positive): “the angular momentum p = M(q)q̇, as proposed in [14] and [15].”
Robot Collisions: A Survey on Detection, Isolation, and Identification (2017, methodology): “The first method that achieved simultaneously collision detection, isolation, and identification was proposed in [33] and [34].”
An atlas of physical human-robot interaction (2008, positive): “A particularly eﬃcient algorithm that uses only encoder positions is based on the monitoring of the generalized momentum of the mechanical system [53],[54], which allows also to identify (isolate) the colliding link on the robot.”