Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand
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 closed-form inference model based on a serial chain with joint springs, a variation on Self Posture Changeability, and an empirical memory memory-based model of joint trajectories. The methods were experimen experimentally tested using a tally Shadow Hand on an industrial Motoman SDA10 arm to quan quantify tify localization performance, actively discover and avoid a thin obstacle and localize and grasp a cup.
Gurdayal S. Koonjul Garth J. Zeglin Nancy S. Pollard
The Robotics Institute,Carnegie Mellon University University,Pittsburgh,PA,15213,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
489-495
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）