Abstract: The generalized momentum observer (GMO) is widely used for robot collision detection, but its accuracy is significantly affected by external torque residuals caused by dynamic model errors.
Connected sensors provide real-time collision alerts and asset data to help agencies reduce secondary crashes and streamline ...
Abstract: Collision detection is critical for safe physical human-robot interaction (pHRI). The generalized momentum observer (GMO) is a prevalent sensorless method, estimating momentum deviations to ...
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