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Collision detection and isolation on a robot using joint torque sensing

Joao Bimbo 1 Claudio Pacchierotti 2 Nikos Tsagarakis 1 Domenico Prattichizzo 3, 1
1 IIT - Istituto Italiano di Tecnologia
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
3 UNISI - Università degli Studi di Siena
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https://hal.inria.fr/hal-02197009
Contributor : Claudio Pacchierotti <>
Submitted on : Monday, July 29, 2019 - 7:53:49 PM
Last modification on : Friday, July 10, 2020 - 4:02:21 PM

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  • HAL Id : hal-02197009, version 1

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UNIV-RENNES1 | CNRS | CENTRALESUPELEC | IRISA | INRIA | UR1-UFR-ISTIC | UNIV-RENNES | INSA-RENNES

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Joao Bimbo, Claudio Pacchierotti, Nikos Tsagarakis, Domenico Prattichizzo. Collision detection and isolation on a robot using joint torque sensing. IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, Macau SAR China. pp.1-6. ⟨hal-02197009⟩

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