In physical human-robot interaction (pHRI) it is essential to reliably estimate and localize contact forces between the robot and the environment. In this paper, a complete contact detection, isolation, and reaction scheme is presented and tested on a new 6-dof industrial collaborative robot. We combine two popular methods, based on monitoring energy and generalized momentum, to detect and isolate collisions on the whole robot body in a more robust way. The experimental results show the effectiveness of our implementation on the LARA5 cobot, that only relies on motor current and joint encoder measurements. For validation purposes, contact forces are also measured using an external GTE CoboSafe sensor. After a successful collision detection, the contact point location is isolated using a combination of the residual method based on the generalized momentum with a contact particle filter (CPF) scheme. We show for the first time a successful implementation of such combination on a real robot, without relying on joint torque sensor measurements.

Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot / Zurlo, Dario; Heitmann, Tom; Morlock, Merlin; DE LUCA, Alessandro. - (2023), pp. 7533-7539. (Intervento presentato al convegno 2023 IEEE International Conference on Robotics and Automation tenutosi a London) [10.1109/ICRA48891.2023.10160661].

Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot

Alessandro De Luca
2023

Abstract

In physical human-robot interaction (pHRI) it is essential to reliably estimate and localize contact forces between the robot and the environment. In this paper, a complete contact detection, isolation, and reaction scheme is presented and tested on a new 6-dof industrial collaborative robot. We combine two popular methods, based on monitoring energy and generalized momentum, to detect and isolate collisions on the whole robot body in a more robust way. The experimental results show the effectiveness of our implementation on the LARA5 cobot, that only relies on motor current and joint encoder measurements. For validation purposes, contact forces are also measured using an external GTE CoboSafe sensor. After a successful collision detection, the contact point location is isolated using a combination of the residual method based on the generalized momentum with a contact particle filter (CPF) scheme. We show for the first time a successful implementation of such combination on a real robot, without relying on joint torque sensor measurements.
2023
2023 IEEE International Conference on Robotics and Automation
collision detection; contact point estimation; force estimation; human-robot interaction; momentum-based residual; energy-based residual; contact particle filter; robot control
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot / Zurlo, Dario; Heitmann, Tom; Morlock, Merlin; DE LUCA, Alessandro. - (2023), pp. 7533-7539. (Intervento presentato al convegno 2023 IEEE International Conference on Robotics and Automation tenutosi a London) [10.1109/ICRA48891.2023.10160661].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1683354
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