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Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction
2015
Autonomous Robots
In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot's drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low e↵ective mass in reaction to them. For
doi:10.1007/s10514-015-9464-x
fatcat:qa6ysoknybaupn6v54vm6wlcwa