Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

By Alessandro De Luca, Alin Olimpiu Albu-Schäffer, Sami Haddadin, G. Hirzinger. 2006

782 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

How researchers see this paper

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

In Biomedical Engineering

In Control and Systems Engineering

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].”
An atlas of physical human-robot interaction (2008, neutral): “In [55], a diﬀerent strategy has been implemented on a lightweight robot arm, by determining a direction of safe post-impact motion for the robot from the same signal used for collision detection.”
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains (2018, methodology): “disturbance observer [2] in discrete time.”
Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications (2018, methodology): “ROBOT PROGRAMMING Lead-through programming – standard used in industrial settings, together with OLP – [96]–[98]: usability assessment – [100]–[103]: improved with intuitive input devices (comparative overview in [13]) Off-line programming – standard used in industrial settings – refinements with le”
Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017 (2019, result): “They also compared with DLR LWR-III [47] and KUKA LWR4 + [52].”
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction (2008, methodology): “The collision detection mechanism proposed in [10], which provides a filtered version of the external collision torque τext, along with improvements concerning detection sensitivity and alternative detection schemes are presented and compared to each other.”
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].”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, methodology): “On the basis of this idea, in the work reported five collision reaction strategies were formulated and implemented on a light robot [90].”
A Survey of Methods for Safe Human-Robot Interaction (2017, methodology): “De Luca et al. (2009) developed a collision detection system for a prototype variable stiffness actuator that, similarly to the system developed by Geravand et al., does not require torque sensing. Their momentum-based system is combined with an active reaction strategy that simultaneously moves the”
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots (2017, background): “[15] proposed a collision detection and reaction method which identifies external forces acting on a link as first order filtered external torques acting on the manipulator’s joints.”
Robot Collisions: A Survey on Detection, Isolation, and Identification (2017, methodology): “The monitoring method based on the generalized momentum observer introduced in [33], [34], and [44] was motivated by the desire of avoiding the inversion of the robot inertia matrix, decoupling the estimation result, and also eliminating the need of an estimate of joint accelerations.”
Centroidal dynamics of a humanoid robot (2013, background): “The constraints on the velocities can be expressed in the form of a linear equation (Featherstone and Orin 2008),”
Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “Further details are available in De Luca et al. (2006), Haddadin (2005), and Haddadin et al. (2008a).”