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 language | English |
|---|---|
| Title of host publication | IEEE-RAS International Conference on Humanoid Robots |
| Publisher | IEEE Computer Society |
| Pages | 718-721 |
| Number of pages | 4 |
| Volume | 2015-December |
| ISBN (Print) | 9781479968855 |
| DOIs | |
| Publication status | Published - 2015 Dec 22 |
| Event | 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of Duration: 2015 Nov 3 → 2015 Nov 5 |
Other
| Other | 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 15/11/3 → 15/11/5 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Collision detection of humanoid robot arm under model uncertainties for handling of unknown object
AU - Lee, Sang Duck
AU - Song, Jae-Bok
PY - 2015/12/22
Y1 - 2015/12/22
N2 - 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.
AB - 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.
KW - Adaptation models
KW - Collision avoidance
KW - Force
KW - Indexes
KW - Mathematical model
KW - Robots
KW - Torque
UR - http://www.scopus.com/inward/record.url?scp=84962217885&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84962217885&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2015.7363433
DO - 10.1109/HUMANOIDS.2015.7363433
M3 - Conference contribution
AN - SCOPUS:84962217885
SN - 9781479968855
VL - 2015-December
SP - 718
EP - 721
BT - IEEE-RAS International Conference on Humanoid Robots
PB - IEEE Computer Society
ER -