| 摘要 |
The invention relates to a method for detecting a collision between a robot and its environment, comprising the following steps: generating, from a dynamic model of the robot, a signal representative of the collisions between the robot and its environment, said signal being called residue r; performing an adaptive high-pass filtering of the residue r; recursively determining an adaptive threshold T consisting of at least one dynamic first term &Tgr;&Dgr;1, equal to a piece of information about the parametric uncertainties between said model and the real behaviour of the robot, said parametric uncertainties being linked to a first variable e, characteristic of the state of said robot, from the following variables: the position, the speed or the acceleration of an articulation of the robot, or a linear or non-linear function of one of said variables or a combination of said variables; and comparing the filtered residue to the adaptive threshold T in order to deduce the existence or not of a collision. |
