Reacting to Contact: Transparency and Collision Reflex in Actuation Article Swipe
Ankit Bhatia
,
Matthew T. Mason
,
Aaron M. Johnson
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2212.03469
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2212.03469
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by structural properties as well as sensing and control architectures. In this paper, we propose the collision reflex metric as a way to formally quantify transparency. It is defined as the total impulse transferred in collision, which determines the collision mitigation capabilities of a closed-loop robotic system taking into account structure, sensing, and control. We analyze the effect of motor scaling, stiffness, and configuration on the collision reflex of a system using an analytical model. Physical experiments using the move-until-touch behavior are conducted to compare the collision reflex of direct-drive and quasi-direct-drive actuators and robotic hands (Schunk WSG-50 and Dexterous DDHand.) For transparent systems, we see a counter-intuitive trend: the impulse may be lower at higher pre-impact velocities.
Related Topics
Concepts
Collision
Impulse (physics)
Reflex
Transparency (behavior)
Actuator
Robot
Computer science
Collision avoidance
Stretch reflex
Control theory (sociology)
Stiffness
Simulation
Engineering
Physics
Control (management)
Artificial intelligence
Structural engineering
Computer security
Classical mechanics
Psychology
Neuroscience
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2212.03469
- https://arxiv.org/pdf/2212.03469
- OA Status
- green
- Cited By
- 2
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4310922490
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4310922490Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2212.03469Digital Object Identifier
- Title
-
Reacting to Contact: Transparency and Collision Reflex in ActuationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-12-07Full publication date if available
- Authors
-
Ankit Bhatia, Matthew T. Mason, Aaron M. JohnsonList of authors in order
- Landing page
-
https://arxiv.org/abs/2212.03469Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2212.03469Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2212.03469Direct OA link when available
- Concepts
-
Collision, Impulse (physics), Reflex, Transparency (behavior), Actuator, Robot, Computer science, Collision avoidance, Stretch reflex, Control theory (sociology), Stiffness, Simulation, Engineering, Physics, Control (management), Artificial intelligence, Structural engineering, Computer security, Classical mechanics, Psychology, NeuroscienceTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 2Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.system | 75, 99 |
| abstract_inverted_index.taking | 76 |
| abstract_inverted_index.trend: | 137 |
| abstract_inverted_index.(Schunk | 125 |
| abstract_inverted_index.account | 78 |
| abstract_inverted_index.analyze | 84 |
| abstract_inverted_index.compare | 113 |
| abstract_inverted_index.control | 37 |
| abstract_inverted_index.defined | 57 |
| abstract_inverted_index.impulse | 61, 139 |
| abstract_inverted_index.propose | 43 |
| abstract_inverted_index.robotic | 74, 123 |
| abstract_inverted_index.sensing | 35 |
| abstract_inverted_index.DDHand.) | 129 |
| abstract_inverted_index.Physical | 104 |
| abstract_inverted_index.affected | 28 |
| abstract_inverted_index.behavior | 109 |
| abstract_inverted_index.control. | 82 |
| abstract_inverted_index.formally | 52 |
| abstract_inverted_index.quantify | 53 |
| abstract_inverted_index.scaling, | 89 |
| abstract_inverted_index.sensing, | 80 |
| abstract_inverted_index.systems, | 132 |
| abstract_inverted_index.Dexterous | 128 |
| abstract_inverted_index.actuators | 121 |
| abstract_inverted_index.collision | 45, 68, 95, 115 |
| abstract_inverted_index.conducted | 111 |
| abstract_inverted_index.analytical | 102 |
| abstract_inverted_index.collision, | 64 |
| abstract_inverted_index.determined | 18 |
| abstract_inverted_index.determines | 66 |
| abstract_inverted_index.mitigation | 69 |
| abstract_inverted_index.pre-impact | 145 |
| abstract_inverted_index.properties | 31 |
| abstract_inverted_index.stiffness, | 90 |
| abstract_inverted_index.structural | 30 |
| abstract_inverted_index.structure, | 79 |
| abstract_inverted_index.unexpected | 8 |
| abstract_inverted_index.closed-loop | 73 |
| abstract_inverted_index.collisions. | 9, 25 |
| abstract_inverted_index.experiments | 105 |
| abstract_inverted_index.transferred | 62 |
| abstract_inverted_index.transparent | 21, 131 |
| abstract_inverted_index.velocities. | 146 |
| abstract_inverted_index.Transparency | 26 |
| abstract_inverted_index.capabilities | 70 |
| abstract_inverted_index.direct-drive | 118 |
| abstract_inverted_index.unstructured | 1 |
| abstract_inverted_index.configuration | 92 |
| abstract_inverted_index.environments, | 2 |
| abstract_inverted_index.transparency. | 54 |
| abstract_inverted_index.architectures. | 38 |
| abstract_inverted_index.move-until-touch | 108 |
| abstract_inverted_index.counter-intuitive | 136 |
| abstract_inverted_index.quasi-direct-drive | 120 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile |