Contact Detection and Physical Interaction on Low Cost Personal Robots

Fabrizio Flacco 1 Abderrahmane Kheddar 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper we present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components. This method enables collision detection and physical interaction capabilities without using extra sensors. The effectiveness of the new method is shown with experiments on a Romeo robot arm from SoftBank robotics.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954
Contributor : Fabrizio Flacco <>
Submitted on : Monday, September 12, 2016 - 10:35:32 AM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Long-term archiving on : Tuesday, December 13, 2016 - 12:41:22 PM

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Fabrizio Flacco, Abderrahmane Kheddar. Contact Detection and Physical Interaction on Low Cost Personal Robots. 2016. ⟨lirmm-01363954v1⟩

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