CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
Collision detection and reaction: A contribution to safe physical human-robot interaction
Authors
A. Albu Schaeffer
Alessandro DE LUCA
G. Hirzinger
S. Haddadin
Publication date
1 January 2008
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
In the framework of physical Human-Robot Interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the feasibility and effectiveness of the proposed approach. While a subjective "safety" feeling is experienced by users when being able to naturally stop the robot in autonomous motion, a quantitative analysis of different reaction strategies was lacking. In order to compare these strategies on an objective basis, a mechanical verification platform has been built. The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans. Evaluations of impacts between robot and human arm or chest up to a maximum robot velocity of 2.7 m/s are presented. ©2008 IEEE
Similar works
Full text
Available Versions
Archivio della ricerca- Università di Roma La Sapienza
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:iris.uniroma1.it:11573/205...
Last time updated on 12/11/2016