Dynamic collision detection method using adaptive control law

T. Matsumoto, K. Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished - 2000
Externally publishedYes

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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