Title: Real Time Collision Detection and Identification for Robotic Manipulators,
Abstract: The majority of everyday tasks involve interacting with unstructured
environments. This implies that, in order for robots to be truly useful they
must be able to handle contacts. This paper explores how a particle filter can
be used to localize a contact point and estimate the external force. We
demonstrate the capability of the particle filter on a simulated 4DoF planar
robotic arm, and compare it to a well-established analytical approach.