Contact Detection and Physical Interaction for 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 : 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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954
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Submitted on : Monday, June 26, 2017 - 9:24:00 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Long-term archiving on : Wednesday, January 17, 2018 - 7:20:47 PM

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Fabrizio Flacco, Abderrahmane Kheddar. Contact Detection and Physical Interaction for Low Cost Personal Robots. RO-MAN: Robot and Human Interactive Communication, Aug 2017, Lisbon, Portugal. ⟨lirmm-01363954v2⟩

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