Collision detection and reaction: A contribution to safe physical Human-Robot Interaction

By Sami Haddadin, Alin Olimpiu Albu-Schäffer, Alessandro De Luca, G. Hirzinger. 2008

579 citations recorded by the source corpus.

Subfields: Automotive Engineering, Control and Systems Engineering, Social Psychology

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Citations in the corpus

Learning from Physical Human Corrections, One Feature at a Time (2018, background): “Traditionally, the human’s interactions are treated in one of three ways [9]: as disturbances to be rejected [5, 12, 23], as collisions to be detected and avoided [4], or as operator signals to be followed by switching into a compliant mode [8, 10, 14].”
Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics (2016, background): “This approach is in fact unfiltered version of Generalized Momentum (GM) based approaches presented in [5], [6].”
Learning Robot Objectives from Physical Human Interaction (2017, methodology): “Several reactive control strategies have been developed to deal with pHRI [1, 2, 3].”
Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017 (2019, background): “Post-collision schemes react after collisions occur to reduce the impact/injury after an unexpected collision has occurred [52,133].”
A Survey of Methods for Safe Human-Robot Interaction (2017, methodology): “, 2010) and injury thresholds (Fraunhofer IFF, 2013), as well as to investigate the effectiveness of control strategies (Haddadin et al., 2008).”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, methodology): “The assessment of the previously proposed collision detection and reaction strategies was carried out in [91].”
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots (2017, background): “[16] extended this work by introducing a modified version of the contact detection, more recovery strategies, and by extensively experimenting with a human subject.”
Symbiotic human-robot collaborative assembly (2019, background): “Evaluation of impacts between robot and human arm or chest, up to a maximum robot velocity of 2.7 m/s, were presented to give the operators a ‘safety’ feeling [73].”
Robot Collisions: A Survey on Detection, Isolation, and Identification (2017, methodology): “This method can be used when the robot is controlled by a high-performance (well-tuned) position controller that executes sufficiently smooth desired trajectories qd(t) ∈ R [40].”
A depth space approach to human-robot collision avoidance (2012, background): “While potential injuries of unexpected human-robot impacts can be limited by lightweight/compliant mechanical design of manipulators [2] and collision detection/reaction strategies [3], preventing collisions in a dynamic and largely unpredictable environment relies on the extensive use of exterocept”
Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “The industrial robot tests were carried out with a simplified setup (denoted as Dummy–dummy), mimicking a HIII dummy head 19 .”