提出一种用于软体机器人的动态接触检测方法，提升人机协作安全性。
A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
- 基于模态空间建模与动量观测器，实现连续体机器人的实时接触力估计。
- 通过约束优化识别接触时的受力矢量，验证了在仿真与实验中的有效性。
- 可推广至多段结构，适用于对精度和安全要求高的柔性机器人场景。
以往针对连续体与软体机器人的接触检测多依赖静态或运动学方法，并假设弯曲为圆形或已知曲率。本文将广义动量观测器方法拓展至连续体机器人，结合近期实现的实时形变感知技术与机器人动力学的模态空间表示。提出了通过动量观测器估计接触引起的广义力的方法，并进一步采用约束优化来识别接触过程中的受力矢量。同时，分析了未建模动态偏差对接触检测的影响，通过仿真与实验验证了算法性能。还对比了动量观测器与基于完整动力学模型的关节力偏差法，展示了其优势，并初步扩展至多段连续体机器人。本研究将动态接触检测推进至连续体与软体机器人领域，有助于提升大规模连续体机器人在人机协作中的安全性。
原文摘要 · Abstract (English)
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum observer contact estimation method to continuum robots. This is made possible by leveraging recent results for real-time shape sensing of continuum robots along with a modal-space representation of the robot dynamics. In addition to presenting an approach for estimating the generalized forces due to contact via a momentum observer, we present a constrained optimization method to identify the wrench imparted on the robot during contact. We also present an approach for investigating the effects of unmodeled deviations in the robot's dynamic state on the contact detection method and we validate our algorithm by simulations and experiments. We also compare the performance of the momentum observer to the joint force deviation method, a direct estimation approach using the robot's full dynamic model. We also demonstrate a basic extension of the method to multisegment continuum robots. Results presented in this work extend dynamic contact detection to the domain of continuum and soft robots and can be used to improve the safety of large-scale continuum robots for human-robot collaboration.
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