Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact

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Abstrakt

This paper presents a method for online estimation of contact point and surface normal from in-contact motion of a robot manipulator equipped with a force/torque sensor. Two interconnected linear estimators are used to solve the estimation problem. The estimation applies to contacts that can be modeled with the soft finger contact model, which is a generalization of previous work. We present a condition under which the two estimated parameters (surface normal and contact point) converge to their true values. The proposed estimation algorithm is verified in simulation and validated on a collaborative robot manipulator
OriginalsprogEngelsk
Titel2021 20th International Conference on Advanced Robotics (ICAR)
ForlagIEEE
Publikationsdato2021
Sider19-25
ISBN (Elektronisk)978-1-6654-3684-7
DOI
StatusUdgivet - 2021
Begivenhed2021 20th International Conference on Advanced Robotics (ICAR) - Congress Centre Cankarjev dom, Ljubljana, Slovenien
Varighed: 7. dec. 202110. dec. 2021
Konferencens nummer: 20
https://icar-2021.org/

Konference

Konference2021 20th International Conference on Advanced Robotics (ICAR)
Nummer20
LokationCongress Centre Cankarjev dom
Land/OmrådeSlovenien
ByLjubljana
Periode07/12/202110/12/2021
Internetadresse

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    Sloth, C.

    01/10/201901/10/2023

    Projekter: ProjektForskning

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