Collision Detection Algorithm to Distinguish Between Intended Contact and Unexpected Collision

Cho, Chang Nho; Kim, Joon Hong; Kim, Young Loul; Song, Jae Bok; Kyung, Jin Ho

doi:10.1080/01691864.2012.685259

Cited by 49 publications

(26 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…(10) and (15). The new algorithm can prevent incorrect detection at the moment the robot begins to move.…”

Section: mentioning

confidence: 95%

“…This algorithm can detect collision, but its real-time performance and accuracy are interacted with each other, such that achieving the ideal real-time performance and accuracy simultaneously is difficult. Another study [14][15][16] also viewed collisions as actuator failures, but proposed a novel collision detection algorithm based on generalized momentum. This algorithm can detect a collision only the need of torques, positions and velocities of a robot joints.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, a collision detection algorithm should have good real-time performance, accuracy, and the capability to recognize the direction and position of collision so that safety measures can be implemented to reduce the damage. Adopting the idea from reference [14,15], a collision detection algorithm based on generalized momentum deviation observer is proposed in this paper. One of the major advantages of this algorithm is that it can accurately detect collisions without the need for acceleration parameter in real time.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A momentum-based collision detection algorithm for industrial robots

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

View full text Add to dashboard Cite

This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.

show abstract

“…(10) and (15). The new algorithm can prevent incorrect detection at the moment the robot begins to move.…”

Section: mentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A momentum-based collision detection algorithm for industrial robots

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

View full text Add to dashboard Cite

show abstract

“…It only reacts to forces detected as collision. Detection algorithms rely on the assumption that collisions result in a fast rate of change in different quantities such as input power (De Luca et al 2006), generalized momentum (He et al 2015), external forces (Haddadin et al 2008;Cho et al 2012). The collision is detected if the magnitude of such signals surpasses a certain threshold.…”

Section: Related Workmentioning

confidence: 99%

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Khoramshahi

Billard

2020

Auton Robot

View full text Add to dashboard Cite

A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human intentional forces. The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection algorithm to switch across the two roles. In the absence of human-guidance, the robot performs its task autonomously and upon detection of such guidances the robot passively follows the human motions. We employ dynamical systems to generate task-specific motion and admittance control to generate reactive motions toward the human-guidance. This structure enables the robot to reject undesirable perturbations, track the motions precisely, react to human-guidance by providing proper compliant behavior, and re-plan the motion reactively. We provide analytical investigation of our method in terms of tracking and compliant behavior. Finally, we evaluate our method experimentally using a 6-DoF manipulator.

show abstract

“…Hence, to help manipulators execute tasks successfully in dynamic environment, a path planning method with obstacle avoidance is an urgent necessity. [2][3][4] To plan an obstacle-avoidance trajectory in real time, various sensors are used to obtain the position information of obstacles, 5 and a path planning method with obstacle avoidance is applied. More specifically, the environment is unknown with stationary obstacles or moving obstacles; hence, particular attention is given to reactive methods based on local sensory data.…”

Section: Introductionmentioning

confidence: 99%

Path planning method with obstacle avoidance for manipulators in dynamic environment

Chen

Dan

Wang

et al. 2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Obstacle avoidance is of great importance for path planning of manipulators in dynamic environment. To help manipulators successfully perform tasks, a method of path planning with obstacle avoidance is proposed in this article. It consists of two consecutive phases, namely, collision detection and obstacle-avoidance path planning. The collision detection is realized by establishing point-cloud model and testing intersection of axis-aligned bounding boxes trees, while obstacleavoidance path planning is achieved through preplanning a global path and adjusting it in real time. This article has the following contributions. The point-cloud model is of high resolution while the speed of collision detection is improved, and collision points can be found exactly. The preplanned global path is optimized based on the improved D-star algorithm, which reduces inflection points and decreases collision probability. The real-time path adjusting strategy satisfies the requirement of reachability and obstacle avoidance for manipulators in dynamic environment. Simulations and experiments are carried out to evaluate the validity of the proposed method, and the method is available to manipulators of any degree of freedom in dynamic environment.

show abstract

Collision Detection Algorithm to Distinguish Between Intended Contact and Unexpected Collision

Cited by 49 publications

References 12 publications

A momentum-based collision detection algorithm for industrial robots

A momentum-based collision detection algorithm for industrial robots

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Path planning method with obstacle avoidance for manipulators in dynamic environment

Contact Info

Product

Resources

About