Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact

Christoffer Sloth; Iñigo Iturrate

doi:10.1109/ICAR53236.2021.9659339

Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact

Christoffer Sloth^*, Iñigo Iturrate

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

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

Original language	English
Title of host publication	2021 20th International Conference on Advanced Robotics (ICAR)
Publisher	IEEE
Publication date	2021
Pages	19-25
ISBN (Electronic)	978-1-6654-3684-7
DOIs	https://doi.org/10.1109/ICAR53236.2021.9659339
Publication status	Published - 2021
Event	2021 20th International Conference on Advanced Robotics (ICAR) - Congress Centre Cankarjev dom, Ljubljana, Slovenia Duration: 7. Dec 2021 → 10. Dec 2021 Conference number: 20 https://icar-2021.org/

Conference

Conference	2021 20th International Conference on Advanced Robotics (ICAR)
Number	20
Location	Congress Centre Cankarjev dom
Country/Territory	Slovenia
City	Ljubljana
Period	07/12/2021 → 10/12/2021
Internet address	https://icar-2021.org/

Documents & Links

10.1109/ICAR53236.2021.9659339

PIRAT
Sloth, C.
01/10/2019 → 01/10/2023
Project: Research

Cite this

@inproceedings{cea4f7786924424bb84f435e46e5486d,

title = "Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact",

abstract = "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",

author = "Christoffer Sloth and I{\~n}igo Iturrate",

year = "2021",

doi = "10.1109/ICAR53236.2021.9659339",

language = "English",

pages = "19--25",

booktitle = "2021 20th International Conference on Advanced Robotics (ICAR)",

publisher = "IEEE",

address = "United States",

note = "2021 20th International Conference on Advanced Robotics (ICAR), ICAR 2021 ; Conference date: 07-12-2021 Through 10-12-2021",

url = "https://icar-2021.org/",

}

TY - GEN

T1 - Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact

AU - Sloth, Christoffer

AU - Iturrate, Iñigo

N1 - Conference code: 20

PY - 2021

Y1 - 2021

N2 - 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

AB - 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

U2 - 10.1109/ICAR53236.2021.9659339

DO - 10.1109/ICAR53236.2021.9659339

M3 - Article in proceedings

SP - 19

EP - 25

BT - 2021 20th International Conference on Advanced Robotics (ICAR)

PB - IEEE

T2 - 2021 20th International Conference on Advanced Robotics (ICAR)

Y2 - 7 December 2021 through 10 December 2021

ER -

Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact

Abstract

Conference

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