Robot Collisions: A Survey on Detection, Isolation, and Identification
Leibniz University Hannover · Sapienza University of Rome · +1 more institution
Abstract
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…
Citation impact
- FWCI
- 22.30
- Percentile
- 100%
- References
- 69
Authors
3Topics & keywords
- Robot
- Context (archaeology)
- Workspace
- Flexibility (engineering)
- Identification (biology)
- Computer science
- Isolation (microbiology)
- Robot control