{"id":"https://openalex.org/W2964738465","doi":"https://doi.org/10.1109/iros40897.2019.8967998","title":"Collision Detection and Isolation on a Robot using Joint Torque Sensing","display_name":"Collision Detection and Isolation on a Robot using Joint Torque Sensing","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2964738465","doi":"https://doi.org/10.1109/iros40897.2019.8967998","mag":"2964738465"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-02197009","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060894383","display_name":"Jo\u00e3o Bimbo","orcid":"https://orcid.org/0000-0002-4720-9026"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Joao Bimbo","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["Univ Rennes, Inria,CNRS,IRISA,France","RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Rennes, Inria,CNRS,IRISA,France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1326498283","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","UNISI - Universit\u00e0 degli Studi di Siena = University of Siena (Rettorato - Via Banchi di Sotto 55 - 53100 Siena - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"UNISI - Universit\u00e0 degli Studi di Siena = University of Siena (Rettorato - Via Banchi di Sotto 55 - 53100 Siena - Italy)","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7604","last_page":"7609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.721027672290802},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.6781383752822876},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6578990817070007},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6410783529281616},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6166948676109314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.611391007900238},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4242391288280487},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4213623106479645},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4177706241607666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3703906238079071},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3433178663253784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3177509903907776},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.2783316969871521},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.14551520347595215}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.721027672290802},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.6781383752822876},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6578990817070007},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6410783529281616},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6166948676109314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.611391007900238},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4242391288280487},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4213623106479645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4177706241607666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3703906238079071},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3433178663253784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3177509903907776},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2783316969871521},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.14551520347595215},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8967998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02197009v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02197009","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, Macau SAR China. pp.7604-7609, &#x27E8;10.1109/IROS40897.2019.8967998&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:usiena-air.unisi.it:11365/1111826","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/1111826","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02197009v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02197009","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, Macau SAR China. pp.7604-7609, &#x27E8;10.1109/IROS40897.2019.8967998&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1974305624","https://openalex.org/W1990637839","https://openalex.org/W2002589631","https://openalex.org/W2050835671","https://openalex.org/W2116113712","https://openalex.org/W2126654773","https://openalex.org/W2128722009","https://openalex.org/W2131292439","https://openalex.org/W2149085596","https://openalex.org/W2152864241","https://openalex.org/W2154777391","https://openalex.org/W2165558283","https://openalex.org/W2167340365","https://openalex.org/W2212757879","https://openalex.org/W2217681286","https://openalex.org/W2563940612","https://openalex.org/W2565027118","https://openalex.org/W2570268714","https://openalex.org/W2743788393","https://openalex.org/W2762248135","https://openalex.org/W2901136733","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W1977371217","https://openalex.org/W2035264131","https://openalex.org/W1679012645","https://openalex.org/W2157702526"],"abstract_inverted_index":{"As":[0,49],"robotic":[1,79],"systems":[2],"become":[3],"more":[4],"flexible":[5],"and":[6,29,64,74,81,89,139,148],"intelligent,":[7],"they":[8],"must":[9],"be":[10,53],"able":[11,105],"to":[12,55,106,120,145,168],"move":[13],"into":[14],"environments":[15],"with":[16,46,143,154],"a":[17,78,97,132,152,159],"high":[18],"degree":[19],"of":[20,42,61,72,165],"uncertainty":[21],"or":[22],"clutter,":[23],"such":[24],"as":[25],"our":[26],"homes,":[27],"workplaces,":[28],"the":[30,40,43,70,108,113,118,127,163,166],"outdoors.":[31],"In":[32],"these":[33,57],"unstructured":[34],"scenarios,":[35],"it":[36,51],"is":[37,94,104],"possible":[38],"that":[39],"body":[41],"robot":[44,114,119,153],"collides":[45],"its":[47,82,146],"surroundings.":[48],"such,":[50],"would":[52],"desirable":[54],"characterise":[56],"contacts":[58],"in":[59,141,158],"terms":[60],"their":[62],"location":[63,110],"interaction":[65],"forces.":[66],"This":[67],"paper":[68],"addresses":[69],"problem":[71],"detecting":[73],"isolating":[75],"collisions":[76],"between":[77],"manipulator":[80],"environment,":[83],"using":[84,151],"only":[85],"on-board":[86],"joint":[87,155],"torque":[88,156],"position":[90],"sensing.":[91],"The":[92,135],"algorithm":[93],"based":[95],"on":[96,112],"particle":[98],"filter":[99],"and,":[100],"under":[101],"some":[102],"assumptions,":[103],"identify":[107],"contact":[109],"anywhere":[111],"body.":[115],"It":[116],"requires":[117],"perform":[121],"small":[122],"exploratory":[123],"movements,":[124],"progressively":[125],"integrating":[126],"new":[128],"sensing":[129,157],"information":[130],"through":[131],"Bayesian":[133],"framework.":[134],"approach":[136],"was":[137],"tested":[138],"benchmarked":[140],"simulation,":[142],"respect":[144],"accuracy":[147],"robustness.":[149],"Validation":[150],"real":[160],"environment":[161],"demonstrated":[162],"applicability":[164],"method":[167],"real-world":[169],"scenarios.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
