{"_id":"ygjNGRxEr69hsKPhx","bibbaseid":"flacco-kheddar-contactdetectionandphysicalinteractionforlowcostpersonalrobots-2017","downloads":0,"creationDate":"2018-10-29T22:19:59.838Z","title":"Contact Detection and Physical Interaction for Low Cost Personal Robots","author_short":["Flacco, F.","Kheddar, A."],"year":2017,"bibtype":"inproceedings","biburl":"https://bibbase.org/zotero/aorekhov","bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Contact Detection and Physical Interaction for Low Cost Personal Robots","url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954/document","abstract":"We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of our approach is shown with experiments on a Romeo robot arm from SoftBank Robotics.","language":"en","urldate":"2018-09-19TZ","author":[{"propositions":[],"lastnames":["Flacco"],"firstnames":["Fabrizio"],"suffixes":[]},{"propositions":[],"lastnames":["Kheddar"],"firstnames":["Abderrahmane"],"suffixes":[]}],"month":"August","year":"2017","bibtex":"@inproceedings{flacco_contact_2017,\n\ttitle = {Contact {Detection} and {Physical} {Interaction} for {Low} {Cost} {Personal} {Robots}},\n\turl = {https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954/document},\n\tabstract = {We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of our approach is shown with experiments on a Romeo robot arm from SoftBank Robotics.},\n\tlanguage = {en},\n\turldate = {2018-09-19TZ},\n\tauthor = {Flacco, Fabrizio and Kheddar, Abderrahmane},\n\tmonth = aug,\n\tyear = {2017}\n}\n\n","author_short":["Flacco, F.","Kheddar, A."],"key":"flacco_contact_2017","id":"flacco_contact_2017","bibbaseid":"flacco-kheddar-contactdetectionandphysicalinteractionforlowcostpersonalrobots-2017","role":"author","urls":{"Paper":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954/document"},"downloads":0},"search_terms":["contact","detection","physical","interaction","low","cost","personal","robots","flacco","kheddar"],"keywords":[],"authorIDs":[],"dataSources":["Q5cy5ZnQZvoGxZ7DT"]}