Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy
Maged Iskandar Oliver Eiberger Alin Albu-Schäffer Alessandro De Luca Alexander Dietrich Maged Iskandar Oliver Eiberger Alin Albu-Schäffer Alessandro De Luca Alexander Dietrich
Physical human-robot interaction is known to be a crucial aspect in modern lightweight robotics. Herein, the estimation of external interactions is essential for the effective and safe collaboration. In this work, an extended momentum-based disturbance observer is presented which includes the sensing redundancy related to additional force-torque measurements. The observer eliminates the need for a...