Collision detection, isolation and identification for humanoids

Jonathan Vorndamme, Moritz Schappler, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

47 Scopus citations


High-performance collision handling, which is divided into the five phases detection, isolation, estimation, classification and reaction, is a fundamental robot capability for safe and sensitive operation/interaction in unknown environments. For complex humanoid robots collision handling is obviously significantly more complex than for classical static manipulators. In particular, the robot stability during the collision reaction phase has to be carefully designed and relies on high fidelity contact information that is generated during the first three phases. In this paper, a unified realtime algorithm is presented for determining unknown contact forces and contact locations for humanoid robots based on proprioceptive sensing only, i.e. joint position, velocity and torque, as well as force/torque sensing along the structure. The proposed scheme is based on nonlinear model-based momentum observers that are able to recover the unknown contact forces and the respective locations. The dynamic loads acting on internal force/torque sensors are also corrected based on a novel nonlinear compensator. The theoretical capabilities of the presented methods are evaluated in simulation with the Atlas robot. In summary, we propose a full solution to the problem of collision detection, collision isolation and collision identification for the general class of humanoid robots.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781509046331
StatePublished - 21 Jul 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017


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