Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand

Gurdayal Koonjul, Garth Zeglin, and Nancy Pollard
IEEE International Conference on Robotics and Automation, Shanghai, China, May, 2011.


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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-",
}