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Conference papers
Contact Detection and Physical Interaction for Low Cost Personal Robots
Abstract : We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of our approach is shown with experiments on a Romeo robot arm from SoftBank Robotics.
Cited literature [22 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954
Contributor : Kheddar Abderrahmane Connect in order to contact the contributor
Submitted on : Monday, June 26, 2017 - 9:24:00 PM
Last modification on : Wednesday, November 3, 2021 - 7:45:21 AM
Long-term archiving on: : Wednesday, January 17, 2018 - 7:20:47 PM
Contributor : Kheddar Abderrahmane Connect in order to contact the contributor
Submitted on : Monday, June 26, 2017 - 9:24:00 PM
Last modification on : Wednesday, November 3, 2021 - 7:45:21 AM
Long-term archiving on: : Wednesday, January 17, 2018 - 7:20:47 PM
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RO-MAN2017.pdf
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