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
- Research Background
- 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
- 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
- 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.
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