Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
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


Files produced by the author(s)


  • HAL Id : lirmm-01363954, version 2



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⟩



Les métriques sont temporairement indisponibles