Robot Collisions: A Survey on Detection, Isolation, and Identification

Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along...

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Veröffentlicht in:IEEE transactions on robotics Jg. 33; H. 6; S. 1292 - 1312
Hauptverfasser: Haddadin, Sami, De Luca, Alessandro, Albu-Schaffer, Alin
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.12.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithm design and analysis
Collision avoidance
Collision detection
Collision dynamics
collision identification
collision isolation
Drones
flexible joint manipulators
Human engineering
human-friendly robotics
Human-robot interaction
Injury prevention
physical human–robot interaction (pHRI)
Real-time systems
Robot arms
Robot control
Robot sensing systems
Robots
safe robotics
Service robots
ISSN:1552-3098, 1941-0468
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Zusammenfassung:Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human-robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2017.2723903