Abstract
In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot’s drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low effective mass in reaction to them. For experimental testing, we use a facility containing a calibrated collision dummy and our holonomic mobile platform. We subsequently explore collisions with the dummy colliding against a stationary base and the base colliding against a stationary dummy. Overall, we accomplish fast reaction times and a reduction of impact forces. A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.
Similar content being viewed by others
References
Chuy,O., Hirata, Y., & Kosuge, K. (2007). Active type robotic mobility aid control based on passive behavior. In IEEE/RSJ international conference on intelligent robots and systems (pp. 165–170).
Djebrani, S., Benali, A., & Abdessemed, F. (2012). Modelling and control of an omnidirectional mobile manipulator. International Journal of Applied Mathematics and Computer Science, 22(3), 601–616.
Le, D. P., Choi, J., Kang, S. (2013 October). External force estimation using joint torque sensors and its application to impedance control of a robot manipulator. In 2013 13th international conference on control, automation and systems (ICCAS 2013) (pp. 1794–1798).
De Luca, A. (2006 October). Collision detection and safe reaction with the DLR-III lightweight manipulator arm. In IEEE/RSJ international conference on intelligent robots and systems (pp.1623–1630).
Barreto, S., & Conceicao, A. G. S. (2014). Design and implementation of model-predictive control with friction compensation on an omnidirectional mobile robot. IEEE/ASME Transactions on Mechatronics, 19(2), 467–476.
Doisy, G. (2012). Sensorless collision detection and control by physical interaction for wheeled mobile robots. In ACM/IEEE international conference on human-robot interaction (pp. 121–122).
Fang, H., Shi, Y., & Yi, J. (2011). On stable simultaneous input and state estimation for discrete time linear systems. International Journal of Adaptive Control and Signal Processing, 25(8), 671–686.
Frémy, J., Michaud, F., & Lauria, M. (2010). Pushing a robot along-a natural interface for human-robot interaction. In IEEE international conference on robotics and automation (pp. 3440–3445).
Haddadin, S., Albu-Schaffer, A., & Hirzinger, G. (2009). Requirements for safe robots: Measurements, analysis and new insights. The International Journal of Robotics Research, 28(11–12), 1507–1527.
Hirata,Y., Baba, T., & Kosuge, K. (2003). Motion control of omni-directional type walking support system” Walking Helper”. In IEEE international workshop on robot and human interactive communication (pp. 85–90).
Huang, J., & Di, P., (2008). Motion control of omni-directional type cane robot based on human intention. In IEEE/RSJ international conference on intelligent robots and systems (pp. 22–26).
Kim, K. S., Kwok, A. S., & Sentis, L. (2013, September). Contact sensing and mobility in rough and cluttered environments. In 2013 European conference on mobile robots (pp. 274–281).
Kim, K. S., Kwok, A. S., Thomas, G. C., & Sentis, L. (2014). Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback. In IEEE/RSJ international conference on intelligent robots and systems.
Kumagai, M., & Ochiai, Takaya (2008 October). Development of a robot balancing on a ball. In International conference on control, automation and systems, 2008. ICCAS 2008. (pp. 433–438) .
Kwon, O.-H., Song, H., & Kwon, D.-S. (2011 July). A mobile robot platform based on spring loaded casters for physical interaction. In IEEE international workshop on robot and human interactive communication, pp. 156–161.
Nagarajan, U., & Hollis, R. (2013). Shape space planner for shape-accelerated balancing mobile robots. The International Journal of Robotics Research, 32(11), 1323–1341.
Nguyen, H. G., Morrell, J., Mullens, K. D., Burmeister, A. B., Miles, S., Farrington, N. T. K. M., & Gage, D. W. (2004 October) Segway robotic mobility platform. In SPIE Proc. 5609: Mobile Robots XVII (pp. 207–220).
Pratt, J., Carff, J., Drakunov, S., & Goswami, A. (2006 December). Capture point: a step toward humanoid push recovery. In 2006 6th IEEE-RAS international conference on humanoid robots (pp. 200–207).
Sabatini, A. M. (2002) A mobility aid for the support to walking and object transportation of people with motor impairments. In IEEE/RSJ international conference on intelligent robots and systems (pp. 1349–1354).
Sentis, L., Petersen, J., & Philippsen, R. (2012). Experiments with balancing on irregular terrains using the dreamer mobile humanoid robot. Robotics: Science and Systems.
Sentis, L., Petersen, J., & Philippsen, R. (2013). Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains. Autonomous Robots, 35(4), 301–319.
Spenko, M., Yu, H., & Dubowsky, S. (2006). Robotic personal aids for mobility and monitoring for the elderly. IEEE transactions on neural systems and rehabilitation engineering : A publication of the IEEE Engineering in Medicine and Biology Society, 14(3), 344–351.
Stephens, B. (2011). Push recovery control for force-controlled humanoid robots. PhD thesis, Carnegie Mellon University, Pittsburgh.
United Nations Economic and Social Group. (2011 May). Proposal for the 01 series amendments to draft Regulation on pedestrian safety. In World forum for harmonization of vehicle regulations.
Viet, T. D., Doan, P. T., Hung, N., Kim, H. K., & Kim, S. B. (2012). Tracking control of a three-wheeled omnidirectional mobile manipulator system with disturbance and friction. Journal of Mechanical Science and Technology, 26(7), 2197–2211.
Wakita, K., Huang, J., Di, P., Sekiyama, K., & Fukuda, T. (2013). Human-walking-intention-based motion control of an omnidirectional-type cane robot. IEEE/ASME Transactions on Mechatronics, 18(1), 285–296.
Wu, C.-H. (1985). Compliance control of a robot manipulator based on joint torque servo. The International journal of robotics research, 4, 55–71.
Yamada, Y., Suita, K., & Imai, K. (1996). A failure-to-safety robot system for human-robot coexistence. IEEE International Conference on Robotics and Automation, 18, 283–291.
Zhao, D., Deng, X., & Yi, J. (2009). Motion and internal force control for omnidirectional wheeled mobile robots. IEEE/ASME Transactions on Mechatronics, 14(3), 382–387.
Author information
Authors and Affiliations
Corresponding author
Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary material 1 (mp4 40052 KB)
Rights and permissions
About this article
Cite this article
Kim, K.S., Llado, T. & Sentis, L. Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction. Auton Robot 40, 325–341 (2016). https://doi.org/10.1007/s10514-015-9464-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10514-015-9464-x