{"id":"https://openalex.org/W2999580541","doi":"https://doi.org/10.1109/lra.2020.2967287","title":"Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing","display_name":"Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999580541","doi":"https://doi.org/10.1109/lra.2020.2967287","mag":"2999580541"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967287","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027460944","display_name":"Seyed Ali Baradaran Birjandi","orcid":"https://orcid.org/0000-0002-7101-0025"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Seyed Ali Baradaran Birjandi","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064389745","display_name":"Johannes K\u00fchn","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Kuhn","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Chair of Robotics Science and Systems Intelligence, Technical University Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027460944"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":6.6202,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.97272636,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"954","last_page":"961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.998199999332428,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.998199999332428,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.989799976348877,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9865000247955322,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6533515453338623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6161205172538757},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5641934275627136},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.551548957824707},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.481234073638916},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.44825220108032227},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.43989208340644836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43465322256088257},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.43079546093940735},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.42111679911613464},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32193654775619507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24342480301856995},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18807917833328247},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1857529580593109}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6533515453338623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6161205172538757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641934275627136},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.551548957824707},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.481234073638916},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.44825220108032227},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.43989208340644836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43465322256088257},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.43079546093940735},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42111679911613464},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32193654775619507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24342480301856995},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18807917833328247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1857529580593109},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2967287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967287","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W28635149","https://openalex.org/W1666709923","https://openalex.org/W2005155348","https://openalex.org/W2023617117","https://openalex.org/W2055913619","https://openalex.org/W2110329120","https://openalex.org/W2121991065","https://openalex.org/W2128722009","https://openalex.org/W2131292439","https://openalex.org/W2144907335","https://openalex.org/W2149085596","https://openalex.org/W2150005359","https://openalex.org/W2154777391","https://openalex.org/W2159746877","https://openalex.org/W2164264801","https://openalex.org/W2762248135","https://openalex.org/W2792442297","https://openalex.org/W2887145159","https://openalex.org/W2918843756","https://openalex.org/W2950957806","https://openalex.org/W2964222556","https://openalex.org/W3003158571","https://openalex.org/W4238990946"],"related_works":["https://openalex.org/W2902809339","https://openalex.org/W2603444553","https://openalex.org/W1573497705","https://openalex.org/W3181155743","https://openalex.org/W4386320536","https://openalex.org/W4299734152","https://openalex.org/W2017146877","https://openalex.org/W2963458353","https://openalex.org/W2334367549","https://openalex.org/W2050828586"],"abstract_inverted_index":{"In":[0],"this":[1,21,75],"letter":[2],"a":[3,150,163],"novel":[4],"method":[5],"for":[6],"accurate":[7],"and":[8,36,52,70,85,115,160],"high-bandwidth":[9],"real-time":[10],"monitoring":[11],"of":[12,54,127,156],"robot":[13,92],"collisions":[14],"is":[15,22,32,146],"presented.":[16],"To":[17],"the":[18,23,26,34,38,90,104,107,143,154],"authors'":[19],"knowledge":[20],"first":[24],"time":[25],"so":[27],"called":[28],"direct":[29],"method,":[30],"which":[31,77],"mathematically":[33],"simplest":[35],"theoretically":[37],"ideal":[39],"one,":[40],"has":[41],"been":[42],"realized":[43],"at":[44],"practically":[45],"relevant":[46],"levels.":[47],"For":[48],"this,":[49],"joint":[50,66,166],"velocity":[51,72,84],"acceleration":[53,69,86],"serial":[55],"chain":[56],"robots":[57],"are":[58,95,133],"initially":[59],"estimated":[60],"using":[61],"observer":[62],"techniques":[63],"that":[64],"fuse":[65],"position,":[67],"Cartesian":[68],"angular":[71],"measurements.":[73],"Consequently,":[74],"algorithm,":[76],"also":[78,137],"extends":[79],"our":[80,135],"previous":[81],"work":[82],"in":[83],"estimation,":[87],"together":[88],"with":[89,153,162],"available":[91],"dynamics":[93],"model":[94],"utilized":[96],"to":[97,103,120],"algebraically":[98],"monitor":[99],"external":[100],"forces":[101],"applied":[102],"robot.":[105,167],"Specifically,":[106],"proposed":[108],"sensor":[109],"fusion":[110],"setup":[111],"increases":[112],"estimation":[113],"bandwidth":[114],"decreases":[116],"detection":[117],"uncertainties":[118],"compared":[119],"existing":[121],"methods.":[122],"Moreover,":[123],"since":[124],"neither":[125],"inversion":[126],"large":[128],"matrices":[129],"nor":[130],"their":[131],"derivatives":[132],"required,":[134],"approach":[136],"shows":[138],"increased":[139],"numerical":[140],"stability.":[141],"Finally,":[142],"developed":[144],"algorithm":[145],"evaluated":[147],"based":[148],"on":[149],"realistic":[151],"simulation":[152],"consideration":[155],"all":[157],"parasitic":[158],"effects":[159],"experimentally":[161],"7-DoF":[164],"flexible":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}