Research paper
DLR collision detection · Inferring reaction direction from momentum
Robot proprioception, energy and generalized momentum support collision detection and directional information without external sensing. DLR-III experiments evaluate reaction strategies for rigid and elastic-joint models.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
- Publisher
- IEEE
- Authors
- Alessandro De Luca, Alin Albu-Schaffer, Sami Haddadin, Gerd Hirzinger
- DOI
- 10.1109/iros.2006.282053
- Publication date
- 2006-10
- Source language
- en
- Edition
- 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2006-10; DOI 10.1109/iros.2006.282053
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Robot proprioception, energy and generalized momentum support collision detection and directional information without external sensing. DLR-III experiments evaluate reaction strategies for rigid and elastic-joint models.
Use and review
Institutional abstract and bibliography checked. Detection and reaction depend on models and thresholds, rather than preventing every initial impact or injury.
Sources & editions
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm ↗
IEEE · 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2006-10; DOI 10.1109/iros.2006.282053
DLR original abstract https://elib.dlr.de/45618/; author manuscript https://www.diag.uniroma1.it/labrob/pub/papers/IROS06_DLR.pdf.