Abstract: 
Abstract The invention relates to a method for collision handling for a robot (1) with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure comprises: a base, links, joints connecting the links, actuators and at least one endeffector, a sensor Sdistal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors Si for measuring/estimating proprioceptive data, wherein the sensors Si are arbitrarily positioned along the kinematic chain structure, the method comprising the steps of:  provide (S1) a model describing the dynamics of the robot (1),  measure and/or estimate (S2) with sensor Sdistal.i force/torque Fext, S. distal.i in the most distal link of at least one of the kinematic chains,  measure and/or estimate (S3) with the sensors Si proprioceptive data: base and robot generalized coordinates q (t) and their time derivative q˙ (t), generalized joint motor forces τm, external forces FS, a base orientation φB (t) and a base velocity x˙ (t)B,  generate (S4) an estimate τ^ϵ of the generalized external forces τext with a momentum observer (3) based on at least one of the proprioceptive data and the model,  generate (S5) an estimate ^¨q (t) of a second derivative of base and robot generalized coordinates q¨ (t), based on τ^ϵ and τm,  estimate (S6) a Cartesian acceleration ^¨xD of point D on the kinematic chain structure based on ^¨q (t),  compensate (S7) the external forces FS for rigid body dynamics effects based on ^¨xD and for gravity effects to obtain an estimated external wrench F^ ext, S. i,  compensate (S8) τ^ϵ for the Jacobian J S. distal.i T transformed Fext, S. distal.i to obtain an estimation τ^ext, col of generalized joint forces originating from unexpected collisions,  detect (S9) a collision based on given thresholds τ thresh and FS. i,thresh if τ^ext, col>τ thresh and/or if F^ext, S. i>FS. i,thresh. (Fig. 3) 5 10 15 20 25 30 35
