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Full-Text Articles in Controls and Control Theory
On Sensorless Collision Detection And Measurement Of External Forces In Presence Of Modeling Inaccuracies, Vahid Sotoudehnejad
On Sensorless Collision Detection And Measurement Of External Forces In Presence Of Modeling Inaccuracies, Vahid Sotoudehnejad
Electronic Thesis and Dissertation Repository
The field of human-robot interaction has garnered significant interest in the last decade. Every form of human-robot coexistence must guarantee the safety of the user. Safety in human-robot interaction is being vigorously studied, in areas such as collision avoidance, soft actuators, light-weight robots, computer vision techniques, soft tissue modeling, collision detection, etc. Despite the safety provisions, unwanted collisions can occur in case of system faults. In such cases, before post-collision strategies are triggered, it is imperative to effectively detect the collisions. Implementation of tactile sensors, vision systems, sonar and Lidar sensors, etc., allows for detection of collisions. However, due to …