Momentum Observer-Based Collision Detection Using LSTM for Model Uncertainty Learning
Daegyu Lim Donghyeon Kim Jaeheung Park Daegyu Lim Donghyeon Kim Jaeheung Park
As robots begin to collaborate with people in real life, safety needs to be rigorously ensured to reliably employ robots nearby. In addition to collision prevention algorithms, studies are being actively conducted on collision handling methods. Momentum Observer (MOB) was developed to estimate disturbance torque without using joint acceleration. However, the estimated disturbance from MOB contains...