Research paper
Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction
Drivetrain torque sensing and model-based estimation infer collision force and location on an omnidirectional base. Admittance control is evaluated with a calibrated dummy and proof-of-concept contact experiments. Results depend on platform dynamics and tested impact conditions; further injury and system validation remain necessary.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction
- Publisher
- arXiv
- Authors
- Kim, Kwan Suk, Llado, Travis, Sentis, Luis
- DOI
- 10.48550/arxiv.1501.05007
- First archive posting
- 2015-01-20
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
Drivetrain torque sensing and model-based estimation infer collision force and location on an omnidirectional base. Admittance control is evaluated with a calibrated dummy and proof-of-concept contact experiments. Results depend on platform dynamics and tested impact conditions; further injury and system validation remain necessary.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2015-01-20, abstract reviewed in v1. Publisher dates are separate.