Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics

Author

Phung, Tri Cong ; Chae, Hansang ; Kim, Min Jeong ; Choi, Dongmin ; Shin, Seung Hoon ; Moon, Hyungpil ; Koo, Ja Choon ; Choi, Hyouk Ryeol

Author_Institution

Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

1447

Lastpage

1452

Abstract

The curvatures of an object play an important role in the shape reconstruction of that object. In this research, we suggest a method of estimating unknown curvatures using a coarse-resolution force torque sensor. First, a method of estimating unknown curvatures using large motions in terms of rolling and sliding is proposed. Next, a tracking algorithm for an unknown surface based on an inner position loop control algorithm is presented. An application of this method to the finger of a robot hand is also discussed. Finally, the algorithm is verified by simulations and experiments for several cylinders with different radii.

Keywords

force sensors; manipulator kinematics; mechanical contact; position control; torque measurement; coarse-resolution force torque sensor; coarse-resolution sensor; contact kinematics; finger; inner position loop control algorithm; robot hand; shape reconstruction; tracking algorithm; unknown curvature estimation; Force; Noise; Robot sensing systems; Service robots; Tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094766

Filename

6094766