Velocity-based variable thresholds for improving collision detection in manipulators

Sotoudehnejad, Vahid; Kermani, Mehrdad R.

doi:10.1109/icra.2014.6907343

Cited by 8 publications

(7 citation statements)

References 13 publications

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“…4: Exclusion of estimated desired external wrenches at the distal linkŝ F ext,S measured by force/torque sensors from the observed generalized forces of (4). These wrenches are therefore compensated according to (16).…”

Section: Generalized Contact Force Estimationmentioning

confidence: 99%

“…For the case of multiple contacts, above method may be used in combination with compensated force/torque sensing. Then, for each sensor, a contact in the kinematic chain following the sensor may be detected by applying steps 3 and 4 for the compensated (in the sense of (16) or (19)) wrenchesF ext,S of the sensors. In case of more than one sensor and more than one contact in the kinematic chain, the wrenches originating from contacts already measured by sensors closer to the distal end of the chain have to be subtracted from the measured wrench.…”

Section: B Multiple Contactsmentioning

confidence: 99%

“…The approach utilizes the decoupling property of a generalized momentum based disturbance observer [4], [9], which does not rely on the measurement of accelerations. An extension to the scheme to use time variant thresholds for collision detection based on the estimated modeling error can be found in [16], [17].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

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Collision detection, isolation and identification for humanoids

Vorndamme

Schappler

Haddadin

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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High-performance collision handling, which is divided into the five phases detection, isolation, estimation, classification and reaction, is a fundamental robot capability for safe and sensitive operation/interaction in unknown environments. For complex humanoid robots collision handling is obviously significantly more complex than for classical static manipulators. In particular, the robot stability during the collision reaction phase has to be carefully designed and relies on high fidelity contact information that is generated during the first three phases. In this paper, a unified realtime algorithm is presented for determining unknown contact forces and contact locations for humanoid robots based on proprioceptive sensing only, i.e. joint position, velocity and torque, as well as force/torque sensing along the structure. The proposed scheme is based on nonlinear model-based momentum observers that are able to recover the unknown contact forces and the respective locations. The dynamic loads acting on internal force/torque sensors are also corrected based on a novel nonlinear compensator. The theoretical capabilities of the presented methods are evaluated in simulation with the Atlas robot. In summary, we propose a full solution to the problem of collision detection, collision isolation and collision identification for the general class of humanoid robots.

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Section: Generalized Contact Force Estimationmentioning

confidence: 99%

Section: B Multiple Contactsmentioning

confidence: 99%

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Collision detection, isolation and identification for humanoids

Vorndamme

Schappler

Haddadin

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…These results were extended to the flexible manipulator case and experimentally validated with the DLR lightweight robot arm III [1], using the concepts of total link energy and generalized momentum. An analysis of different terms in the error dynamics and an approach for velocity-based variable collision thresholds were presented in [19]. An estimation of the external end-effector wrenches based on observed disturbance torques was used in [20] to enhance a model predictive balancing controller on the humanoid robot TORO.…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Vorndamme

Schappler

Tödtheide

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].

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“…Recently, with changes in social needs and automotive technology, autonomous driving has become an important concern. Collision avoidance system has been becoming a significant component in the current autonomous driving research to ensure driving safety [1].…”

Section: Introductionmentioning

confidence: 99%

Vehicle Intersection Collision Monitoring Algorithm Based on VANETs and Uncertain Trajectory

Ding¹,

Wu²,

Dong³

et al. 2018

EasyChair Preprints

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Abstract-In order to ensure driving safely, the driving safety assistance system must be able to aware of potential collision accidents in advance, especially significant for the intersection where traffic accidents occur more frequently. Considering that VANETs is one of the most important applications for improving the safety of driving, furthermore, vehicles have an inherent uncertainty of location because the exact position of a moving object is known, with certainty, only at the time of an update on position information. In order to reduce the accident rate at intersection and combine the driving characteristics of vehicles at traffic intersections, a vehicle intersection collision monitoring algorithm based on VANETs and uncertain trajectory is proposed. The algorithm is divided into two categories: uncertain trajectory prediction algorithm and vehicle collision monitoring algorithm. The proposed approach provides approximate answers to the user at the users required level of accuracy while achieving near-optimal communication and computational costs. Finally, extensive experiments were conducted to show the efficiency and efficacy of the proposed approach.

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Velocity-based variable thresholds for improving collision detection in manipulators

Cited by 8 publications

References 13 publications

Collision detection, isolation and identification for humanoids

Collision detection, isolation and identification for humanoids

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Vehicle Intersection Collision Monitoring Algorithm Based on VANETs and Uncertain Trajectory

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