Sensorless collision detection and control by physical interaction for wheeled mobile robots

In this paper, we present the adaptation of a sensorless (in De Luca's sense [1], i.e., without the use of extra sensors,) collision detection approach previously used on robotic arms to mobile wheeled robots. The method is based on detecting the torque disturbance and does not require a model...

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Bibliographic Details
Published in:2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 121 - 122
Main Author: Doisy, Guillaume
Format: Conference Proceeding
Language:English
Published: New York, NY, USA ACM 05.03.2012
IEEE
Series:ACM Conferences
Subjects:
Collision avoidance
Collision Detection
Computer systems organization > Embedded and cyber-physical systems > Robotics > External interfaces for robotics
Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic autonomy
Computer systems organization > Embedded and cyber-physical systems > Sensors and actuators
Computing methodologies > Artificial intelligence > Control methods > Motion path planning
Humans
Mobile robots
pHRI
Robot sensing systems
Safety
Social and professional topics > Computing > technology policy
Torque
collision detection
safety
phri
ISBN:145031063X, 9781450310635
ISSN:2167-2121
Online Access:Get full text
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Summary:In this paper, we present the adaptation of a sensorless (in De Luca's sense [1], i.e., without the use of extra sensors,) collision detection approach previously used on robotic arms to mobile wheeled robots. The method is based on detecting the torque disturbance and does not require a model of the robot's dynamics. We then consider the feasibility of developing control by physical interaction strategies using the described adapted technique.
ISBN:145031063X
9781450310635
ISSN:2167-2121
DOI:10.1145/2157689.2157715