속도 오차 기반의 충돌 감지 알고리즘

Abstract

Human-robot co-operation becomes increasingly frequent due to the widespread use ofservice robots. However, during such co-operation, robots have a high chance of colliding with humans,which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, andamong them, collision detection algorithms are regarded as one of the most practical solutions. Theyallow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimizethe impact. However, conventional collision detection algorithms required the precise model of a robot,which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors,are often required. In this study, we propose a novel collision detection algorithm which only requiresmotor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verifiedthrough various tests.