Real Time Collision Detection and Identification for Robotic Manipulators
This work addresses the need for robots to handle contacts in unstructured environments, but it is incremental as it applies an existing method (particle filter) to a specific robotic scenario.
The paper tackled the problem of localizing contact points and estimating external forces for robotic manipulators in unstructured environments, demonstrating that a particle filter can achieve this capability on a simulated 4DoF planar robotic arm and comparing it to an analytical approach.
The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to localize a contact point and estimate the external force. We demonstrate the capability of the particle filter on a simulated 4DoF planar robotic arm, and compare it to a well-established analytical approach.