@inproceedings{flacco_contact_2017,
	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 = {Flacco, Fabrizio and Kheddar, Abderrahmane},
	month = aug,
	year = {2017}
}

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