Collision detection of humanoid robot arm under model uncertainties for handling of unknown object

Sang Duck Lee; Jae-Bok Song

doi:10.1109/HUMANOIDS.2015.7363433

Collision detection of humanoid robot arm under model uncertainties for handling of unknown object

Sang Duck Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

In recent years human-robot collision safety has received considerable attention. Thus, various collision detection algorithms have been proposed to ensure human-robot collision safety, and these algorithms are usually model-based. However, the dynamic model of a robot arm is uncertain or unknown in cases where the arm performs a task with various objects or tools. In this paper, we propose a collision detection method for a robot arm that changes its tools or pick up various objects. For this purpose, a novel collision detection index, which is decoupled from the inevitable external force generated by the object being handled by the robot, is developed. The proposed index is verified through various simulations using a 7-DOF robot arm, and the corresponding results show that regardless of the object that is being handled, it is possible to detect collisions.

Original language	English
Title of host publication	Humanoids 2015
Subtitle of host publication	Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
Publisher	IEEE Computer Society
Pages	718-721
Number of pages	4
ISBN (Electronic)	9781479968855
DOIs	https://doi.org/10.1109/HUMANOIDS.2015.7363433
Publication status	Published - 2015 Dec 22
Event	15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of Duration: 2015 Nov 3 → 2015 Nov 5

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Volume	2015-December
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Other

Other	15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
Country/Territory	Korea, Republic of
City	Seoul
Period	15/11/3 → 15/11/5

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Adaptation models
Collision avoidance
Force
Indexes
Mathematical model
Robots
Torque

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Hardware and Architecture
Human-Computer Interaction
Electrical and Electronic Engineering

Access to Document

10.1109/HUMANOIDS.2015.7363433

Cite this

Lee, S. D., & Song, J.-B. (2015). Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. In Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots (pp. 718-721). Article 7363433 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2015.7363433

Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. / Lee, Sang Duck; Song, Jae-Bok.
Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots. IEEE Computer Society, 2015. p. 718-721 7363433 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, SD & Song, J-B 2015, Collision detection of humanoid robot arm under model uncertainties for handling of unknown object. in Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots., 7363433, IEEE-RAS International Conference on Humanoid Robots, vol. 2015-December, IEEE Computer Society, pp. 718-721, 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, Korea, Republic of, 15/11/3. https://doi.org/10.1109/HUMANOIDS.2015.7363433

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Collision detection of humanoid robot arm under model uncertainties for handling of unknown object

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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