Robot Arms‎ > ‎

Collision Safety

Collision Detection Algorithm
  • Researchers
    • Young-Loul Kim (Ph.D., kimloul@korea.ac.kr), Joon-Hong Kim (M.S., known@korea.ac.kr), Chang-Nho Cho (M.S., sdfzztx2@gmail.com), Sang-Duck Lee (Ph.D., ysdchris@korea.ac.kr)
  • Researcher Period
    • 2008.09. ~
  • Research Background
    • Collision safety must be ensured during human-robot cooperative tasks.
    • To minimize cost, robots must be able to detect collisions without using any additional sensors.
  • Research Objectives
    • Ensure collision safety during human-robot cooperative tasks
    • Detect collisions without using additional sensors/acceleration estimation
    • Quick detection of collisions
 
  • Research Output
    • Collision detection algorithm was developed
    • Developed algorithm can detect collisions without need of additional sensors/acceleration estimation
    • Developed algorithm can be implemented on any robots with joint torque sensing capability




Collision Reaction Algorithms
  • Researchers
    • Young-Loul Kim (Ph.D., kimloul@korea.ac.kr), Joon-Hong Kim (M.S., known@korea.ac.kr), Chang-Nho Cho (M.S., sdfzztx2@gmail.com), Sang-Duck Lee (Ph.D., ysdchris@korea.ac.kr)
  • Researcher Period
    • 2008.09. ~
  • Research Backgrounds
    • Upon detection of collision, robot must be able to perform appropriate reaction to minimize impact 
    • Different reaction strategies for different collision situations
  • Research Objectives
    • Develop collision reaction algorithm for various collision situations
  • Research Outputs
    • Oscillation mode: 
      • Simulate flexible joints to absorb impact force
      • Easier to resume previous work after reaction
      • For case when user is trapped between robot and wall

    • Torque-free motion mode 
      • Simulate robot floating in no gravity, low friction space
      • Robot continues to move away from collision location
      • For case when object continues to move towards robot after collision

    • Forced stop mode
      • Move robot at speed proportional to collision force
      • Stop robot immediately after collision
      • For general collision situations




Collision Detection Algorithm to Distinguish between Intended Contacts and Unexpected Collisions
  • Researchers
    • Young-Loul Kim (Ph.D., kimloul@korea.ac.kr), Joon-Hong Kim (M.S., known@korea.ac.kr), Chang-Nho Cho (M.S., sdfzztx2@gmail.com), Sang-Duck Lee (Ph.D., ysdchris@korea.ac.kr)
  • Researcher Period
    • 2008.09. ~
  • Research Backgrounds
    • During certain tasks, such as teaching-and-playback, intended contact frequency occurs
    • Robot should only react to unexpected collisions
                 
  • Research Objectives
    • Develop collision detection algorithm that distinguishes intended contacts from unexpected collisions
  • Research Outputs
    • Collision detection algorithm to distinguish between intended contacts and unexpected collisions was developed
    • Developed algorithm does not require additional sensors/acceleration estimate
    • Paper: Joon-Hong Kim, Young-Loul Kim and Jae-Bok Song, Collision Detection Algorithm to Distinguish Between Intended Contacts and Unexpected Collisions, Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI 2010), pp. 221-224, 2010.