Sensorless collision detection and control by physical interaction for wheeled mobile robots

In this paper, we present the adaptation of a sensorless (in De Luca´s sense [1], i.e., without the use of extra sensors,) collision detection approach previously used on robotic arms to mobile wheeled robots. The method is based on detecting the torque disturbance and does not require a model of the robot´s dynamics. We then consider the feasibility of developing control by physical interaction strategies using the described adapted technique.