Human-robot collision detection under modeling uncertainty using frequency boundary of manipulator dynamics

Robotics: Science and Systems (RSS)

Jeff Trinkle, Yoky Matsuoka · AI Magazine · 2010 · 1.1K citations · Full text

Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

Alessandro De Luca, Alin Albu‐Schäffer, Sami Haddadin et al. · 2006 · 756 citations · Full text

Total Energy, Robot Kinematics, Human-robot Collaborative Assembly +17

Sensorless Robot Collision Detection and Hybrid Force/Motion Control

Alessandro De Luca, R. Mattone · 2006 · 377 citations

Robot Kinematics, Robot Control, Engineering +13

A Robust decentralized joint control based on interference estimation

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi · 2005 · 362 citations

Engineering, Networked Control, Advanced Motion Control +17

Actuator failure detection and isolation using generalized momenta

Alessandro De Luca, R. Mattone · 2004 · 285 citations

Robot Kinematics, Engineering, Mechanical Engineering +16