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Conference Papers Year : 2017

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.
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Dates and versions

lirmm-01363954 , version 1 (12-09-2016)
lirmm-01363954 , version 2 (26-06-2017)

Identifiers

  • HAL Id : lirmm-01363954 , version 2

Cite

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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