Research output: Contribution to conference - Without ISBN/ISSN › Conference paper › peer-review
Research output: Contribution to conference - Without ISBN/ISSN › Conference paper › peer-review
}
TY - CONF
T1 - Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator
AU - Mihaylova, L.
AU - Lefebvre, T.
AU - Staffetti, E.
AU - Bruyninckx, H.
AU - De Schutter, J.
N1 - Publisher: IEEE
PY - 2001/8/25
Y1 - 2001/8/25
N2 - This work concerns both monitoring of contact transitions and estimation of the unknown first-order geometric parameters during force-controlled motions. The robotic system is required to move an object among a sequence of contact configurations with the environment, under partial knowledge of geometric parameters (positions and orientations) of the manipulated objects and of the environment itself. An example of a compliant motion task with multiple contacts is considered, that of moving a cube into a corner. It is shown that by describing the contact configurations with different models, and by using the multiple model approach it is possible: i) to detect effectively at each moment the current contact configuration and ii) to estimate accurately the unknown parameters. The reciprocity constraints between ideal reaction forces and velocities are used as measurement equations. An Interacting Multiple Model (IMM) estimator is implemented and its performance is evaluated based on experimental data.
AB - This work concerns both monitoring of contact transitions and estimation of the unknown first-order geometric parameters during force-controlled motions. The robotic system is required to move an object among a sequence of contact configurations with the environment, under partial knowledge of geometric parameters (positions and orientations) of the manipulated objects and of the environment itself. An example of a compliant motion task with multiple contacts is considered, that of moving a cube into a corner. It is shown that by describing the contact configurations with different models, and by using the multiple model approach it is possible: i) to detect effectively at each moment the current contact configuration and ii) to estimate accurately the unknown parameters. The reciprocity constraints between ideal reaction forces and velocities are used as measurement equations. An Interacting Multiple Model (IMM) estimator is implemented and its performance is evaluated based on experimental data.
KW - compliant motion
KW - on-line estimation
KW - IMM estimator
KW - transition detection
KW - tracking DCS-publications-id
KW - inproc-439
KW - DCS-publications-credits
KW - dsp-fa
KW - DCS-publications-personnel-id
KW - 121
M3 - Conference paper
T2 - 10th Intl. Conf. on Advanced Robotics (ICAR'2001)
Y2 - 22 August 2001 through 25 August 2001
ER -