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 proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publication2021 20th International Conference on Advanced Robotics (ICAR)
PublisherIEEE
Publication date2021
Pages19-25
ISBN (Electronic)978-1-6654-3684-7
DOIs
Publication statusPublished - 2021
Event2021 20th International Conference on Advanced Robotics (ICAR) - Congress Centre Cankarjev dom, Ljubljana, Slovenia
Duration: 7. Dec 202110. Dec 2021
Conference number: 20
https://icar-2021.org/

Conference

Conference2021 20th International Conference on Advanced Robotics (ICAR)
Number20
LocationCongress Centre Cankarjev dom
Country/TerritorySlovenia
CityLjubljana
Period07/12/202110/12/2021
Internet address

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  • PIRAT

    Sloth, C. (Project participant)

    01/10/201901/10/2023

    Project: Research

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