The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

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-form inference model based on a serial chain with joint springs, a variation on Self Posture Changeability, and an empirical memory-based model of joint trajectories. The methods were experimentally tested using a Shadow Hand on an industrial Motoman SDA10 arm to quantify localization performance, actively discover and avoid a thin obstacle and localize and grasp a cup

Notes

Text Reference

Gurdayal Koonjul, Garth Zeglin, and Nancy Pollard, "Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand," IEEE International Conference on Robotics and Automation, Shanghai, China, May, 2011.

BibTeX Reference

@inproceedings{Koonjul_2011_7273,
   author = "Gurdayal Koonjul and Garth Zeglin and Nancy Pollard",
   title = "Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand",
   booktitle = "IEEE International Conference on Robotics and Automation, Shanghai, China",
   month = "May",
   year = "2011",
   number= "CMU-RI-TR-",
}

The Robotics Institute

Menu