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Paper WeD02.6

Hertkorn, Katharina (German Aerospace Center (DLR)), Roa, Maximo A. (German Aerospace Center, DLR), Preusche, Carsten (German Aerospace Center (DLR)), Borst, Christoph (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR))

Identification of Contact Formations: Resolving Ambiguous Force Torque Information

Scheduled for presentation during the Regular Session "Grasping and Manipulation" (WeD02), Wednesday, May 16, 2012, 17:45−18:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 12, 2017

Keywords Compliant Assembly, Contact Modelling

Abstract

This paper presents the identification of contact formations using force torque information. As force torque measurements do not map uniquely to their corresponding contact formations, three steps are performed: A contact formation graph is augmented with a similarity index that reflects the similarity of contact formations with respect to their spanned wrench spaces. Prior to that, the wrench space for each contact formation is computed automatically. A particle filter is used to represent the likeliness of a contact formation given a force torque measurement. Finally, this probability distribution is resolved taking the similarity index, the transitions of the contact formation graph and the history of identified contact formations into account. This allows to recognize the order of demonstrated contact formations by a measured set of forces and torques. The approach is verified by experiments.

 

 

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