Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094766
