CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems
Robin Jeanne Kirschner João Jantalia Nico Mansfeld Saeed Abdolshah Sami Haddadin Robin Jeanne Kirschner João Jantalia Nico Mansfeld Saeed Abdolshah Sami Haddadin
In physical human-robot interaction (pHRI), robots need to detect and react to intended and unintended contacts in a safe manner. Proprioceptive sensing capabilities and collision detection and identification techniques differ among commercially available robots, which means that also their sensitivity to detect dynamic collisions with the environment or the human co-worker differ. Up to now, ther...