Work

Energy-based Residual for Collision Detection Using a Velocity Observer

Year: 2024

Type: conference-paper

Abstract: Robot collision detection is addressed with an energy monitoring residual signal that uses only joint position measurements. The residual is evaluated by estimating joint velocity with a reduced-order observer. The observer uses in turn the momentum-based residual as additional input, acting as a virtual sensor of the external torque. We show the effectiveness of this method by comparing it in simulation with numerical differentiation of encoder measurements under nominal and uncertain conditions.

Source: IRIS Research product catalog (Sapienza University of Rome)

DOI: 10.5281/zenodo.14730982

Authors: Gravina, Giovanbattista, Nunziante, Luca, De Luca, Alessandro

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6930785322

FWCI:

Cites:

Cited by:

Related to: