Robot Collisions¶
Haddadin, S., De Luca, A., & Albu-Schaffer, A. (2017). Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Transactions on Robotics, 33(6), 1292-1312.
Cited by¶
1 citation across 1 artifact.
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Primes¶
- Efference Copy
- It recurs in robotics, where a forward model predicts the expected reaction force of a commanded torque and subtracts it, leaving only the unexpected component for collision detection.
This sourceForward dynamic models predict the expected actuation reaction so that only the unexpected residual signals a collision.
SupportedVerified against the work's full text
The survey builds collision residuals by subtracting the commanded motor torque from torques predicted by the robot's dynamic model, so that what is left estimates the external collision torque.
“An estimate of the external joint torque due to collision is obtained by computing ... the inverse dynamics (the so-called feedforward term)”
- It recurs in robotics, where a forward model predicts the expected reaction force of a commanded torque and subtracts it, leaving only the unexpected component for collision detection.
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Registry ID ref:529d0bc0030a · see in the full table