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Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator

Research output: Contribution to conference - Without ISBN/ISSN Conference paperpeer-review

Published

Standard

Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator. / Mihaylova, L.; Lefebvre, T.; Staffetti, E.; Bruyninckx, H.; De Schutter, J.

2001. Paper presented at 10th Intl. Conf. on Advanced Robotics (ICAR'2001), Budapest, Hungary.

Research output: Contribution to conference - Without ISBN/ISSN Conference paperpeer-review

Harvard

Mihaylova, L, Lefebvre, T, Staffetti, E, Bruyninckx, H & De Schutter, J 2001, 'Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator', Paper presented at 10th Intl. Conf. on Advanced Robotics (ICAR'2001), Budapest, Hungary, 22/08/01 - 25/08/01. <http://conf.uni-obuda.hu/icar2001/index.html>

APA

Mihaylova, L., Lefebvre, T., Staffetti, E., Bruyninckx, H., & De Schutter, J. (2001). Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator. Paper presented at 10th Intl. Conf. on Advanced Robotics (ICAR'2001), Budapest, Hungary. http://conf.uni-obuda.hu/icar2001/index.html

Vancouver

Mihaylova L, Lefebvre T, Staffetti E, Bruyninckx H, De Schutter J. Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator. 2001. Paper presented at 10th Intl. Conf. on Advanced Robotics (ICAR'2001), Budapest, Hungary.

Author

Mihaylova, L. ; Lefebvre, T. ; Staffetti, E. ; Bruyninckx, H. ; De Schutter, J. / Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator. Paper presented at 10th Intl. Conf. on Advanced Robotics (ICAR'2001), Budapest, Hungary.6 p.

Bibtex

@conference{eecdf0ee35554bd18fd0e76968c00efe,
title = "Tracking contact transitions during force-controlled compliant motion using an interacting multiple model estimator",
abstract = "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.",
keywords = "compliant motion, on-line estimation, IMM estimator, transition detection, tracking DCS-publications-id, inproc-439, DCS-publications-credits, dsp-fa, DCS-publications-personnel-id, 121",
author = "L. Mihaylova and T. Lefebvre and E. Staffetti and H. Bruyninckx and {De Schutter}, J.",
note = "Publisher: IEEE ; 10th Intl. Conf. on Advanced Robotics (ICAR'2001) ; Conference date: 22-08-2001 Through 25-08-2001",
year = "2001",
month = aug,
day = "25",
language = "English",

}

RIS

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 -