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Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
Open accessAbstract
A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing, relative motions between robot and human are not predictable and unexpected collisions may occur at any location along the robot arm. Based on physical quantities such as total energy and generalized momentum of the robot manipulator, we present an efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision. The approach is first developed for rigid robot arms and then extended to the case of robots with elastic joints, proposing different reaction strategies. Experimental results on collisions with the DLR-III lightweight manipulator are reported
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Cited by
The DLR lightweight robot: design and control concepts for robots in human environments
Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G. (2007) · Industrial Robot: An International Journal · doi:10.1108/01439910710774386 · Cited by 623
Self-citationWorking Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Hentout, A., Aouache, M., Maoudj, A., & Akli, I. (2019) · Advanced Robotics · doi:10.1080/01691864.2019.1636714 · Cited by 462
Requirements for Safe Robots: Measurements, Analysis and New Insights
Haddadin, S., Albu-Schäffer, A., & Hirzinger, G. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909343970 · Cited by 444
Self-citationContact Model Fusion for Event-Based Locomotion in Unstructured Terrains
Bledt, G., Wensing, P. M., Ingersoll, S., & Kim, S. (2018) · 2018 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2018.8460904 · Cited by 197
Metadata
- Authors
- De Luca, A., Albu-Schaffer, A., Haddadin, S., & Hirzinger, G.
- Venue
- 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2006-10
- Pages
- 1623-1630
- OpenAlex
- W2149085596
- Cited by
- 779
- References
- 0
- FWCI
- 26.84
- Type
- conference paper
- Language
- en
- Open access
- green
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- De Luca, A., Albu-Schaffer, A., Haddadin, S., & Hirzinger, G. (2006). Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2006.282053
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