Collision detection of humanoid robot arm under model uncertainties for handling of unknown object

Sang Duck Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In recent years human-robot collision safety has received considerable attention. Thus, various collision detection algorithms have been proposed to ensure human-robot collision safety, and these algorithms are usually model-based. However, the dynamic model of a robot arm is uncertain or unknown in cases where the arm performs a task with various objects or tools. In this paper, we propose a collision detection method for a robot arm that changes its tools or pick up various objects. For this purpose, a novel collision detection index, which is decoupled from the inevitable external force generated by the object being handled by the robot, is developed. The proposed index is verified through various simulations using a 7-DOF robot arm, and the corresponding results show that regardless of the object that is being handled, it is possible to detect collisions.

Original languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages718-721
Number of pages4
Volume2015-December
ISBN (Print)9781479968855
DOIs
Publication statusPublished - 2015 Dec 22
Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
Duration: 2015 Nov 32015 Nov 5

Other

Other15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
CountryKorea, Republic of
CitySeoul
Period15/11/315/11/5

Fingerprint

Robots
Uncertainty
Dynamic models

Keywords

  • Adaptation models
  • Collision avoidance
  • Force
  • Indexes
  • Mathematical model
  • Robots
  • Torque

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Lee, S. D., & Song, J-B. (2015). Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-December, pp. 718-721). [7363433] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2015.7363433

Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. / Lee, Sang Duck; Song, Jae-Bok.

IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-December IEEE Computer Society, 2015. p. 718-721 7363433.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SD & Song, J-B 2015, Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-December, 7363433, IEEE Computer Society, pp. 718-721, 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, Korea, Republic of, 15/11/3. https://doi.org/10.1109/HUMANOIDS.2015.7363433
Lee SD, Song J-B. Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-December. IEEE Computer Society. 2015. p. 718-721. 7363433 https://doi.org/10.1109/HUMANOIDS.2015.7363433
Lee, Sang Duck ; Song, Jae-Bok. / Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-December IEEE Computer Society, 2015. pp. 718-721
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