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.
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⟩
