Research‎ > ‎Robot Arms‎ > ‎Robot manipulator‎ > ‎

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.