Physical human-robot interaction is known to be a crucial aspect in modern lightweight robotics. Herein, the estimation of external interactions is essential for the effective and safe collaboration. In this work, an extended momentum-based disturbance observer is presented which includes the sensing redundancy related to additional force-torque measurements. The observer eliminates the need for acceleration measurements/estimates and it is able to accurately reconstruct multiple simultaneous contact locations. Moreover, it provides uncoupled, configuration-independent, and singularity-free estimates of the external forces. The performance of the approach is experimentally validated on the SARA robot, the new generation of DLR lightweight robots, involving high resolution force-torque sensors in a redundant arrangement.

Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy / Iskandar, Maged; Eiberger, Oliver; Albu-Schaffer, Alin; De Luca, Alessandro; Dietrich, Alexander. - (2021), pp. 3111-3117. (Intervento presentato al convegno 2021 IEEE Int. Conf. on Robotics and Automation tenutosi a Xian; China) [10.1109/ICRA48506.2021.9561677].

Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy

De Luca, Alessandro
;
2021

Abstract

Physical human-robot interaction is known to be a crucial aspect in modern lightweight robotics. Herein, the estimation of external interactions is essential for the effective and safe collaboration. In this work, an extended momentum-based disturbance observer is presented which includes the sensing redundancy related to additional force-torque measurements. The observer eliminates the need for acceleration measurements/estimates and it is able to accurately reconstruct multiple simultaneous contact locations. Moreover, it provides uncoupled, configuration-independent, and singularity-free estimates of the external forces. The performance of the approach is experimentally validated on the SARA robot, the new generation of DLR lightweight robots, involving high resolution force-torque sensors in a redundant arrangement.
2021
2021 IEEE Int. Conf. on Robotics and Automation
Robotics; Collision detection; Collision isolation; Collision localization; Sensor redundancy; Momentum-based disturbance observer
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy / Iskandar, Maged; Eiberger, Oliver; Albu-Schaffer, Alin; De Luca, Alessandro; Dietrich, Alexander. - (2021), pp. 3111-3117. (Intervento presentato al convegno 2021 IEEE Int. Conf. on Robotics and Automation tenutosi a Xian; China) [10.1109/ICRA48506.2021.9561677].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1587160
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