Sensors have been used in the past to enable robots to predict and avoid collisions. As Acutronic Robotics shows in their latest video, it is possible to achieve this without sensors. A MARA robotic arm running ROS 2 was used to demonstrate this. The MoveIt 2 model was used to detect collisions without any external torque sensor.
Must see robots & drones:
Sensorless collision detection for robotic arm with ROS 2
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