Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 489 - 495, May, 2011
Abstract
Manipulators with compliant actuation exhibit passive joint displacements when exposed to external forces or collisions. This paper demonstrates that this displacement information is sufficient to infer a coarse estimate of the location of an incidental collision. Three techniques for contact point detection are compared: a closed-form inference model based on a serial chain with joint springs, a variation on Self Posture Changeability, and an empirical memory-based model of joint trajectories. The methods were experimentally tested using a Shadow Hand on an industrial Motoman SDA10 arm to quantify localization performance, actively discover and avoid a thin obstacle and localize and grasp a cup.
BibTeX
@conference{Koonjul-2011-7290,author = {Gurdayal Koonjul and Garth Zeglin and Nancy Pollard},
title = {Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2011},
month = {May},
pages = {489 - 495},
}
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