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학술지 An Active Sensing Strategy for Contact Location without Tactile Sensors Using Robot Geometry and Kinematics
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저자
이후만, 박재흥
발행일
201401
출처
Autonomous Robots, v.36 no.1-2, pp.109-121
ISSN
0929-5593
출판사
Springer
DOI
https://dx.doi.org/10.1007/s10514-013-9368-6
협약과제
13VC4500, 양팔 작업을 위한 센서융합 인지 기반 제어기술 개발 및 다중로봇 협업 생산공정 적용 기술 개발, 김중배
초록
In this study, we develop new techniques to sense contact locations and control robots in contact situations in order to enable articulated robotic systems to perform manipulations and grasping actions. Active sensing approaches are investigated by utilizing robot kinematics and geometry to improve upon existing sensing methods for contact. Compliant motion control is used so that a robot can actively search for and localize the desired contact location. Robot control in a contact situation is improved by the precise estimation of the contact location. From this viewpoint, we investigate a new control strategy to accommodate the proposed sensing techniques in contact situations. The proposed estimation algorithm and the control strategy both work complementarily. Then, we verify the proposed algorithm through experiments using 7-DOF hardware and a simulation environment. The two major contributions of the proposed active sensing strategy are the estimation algorithm for contact location without any tactile sensors, and the control strategy complementing the proposed estimation algorithm. © 2013 Springer Science+Business Media New York.
키워드
Active sensing, Compliant motion control, Contact estimation, Contact location, Manipulation
KSP 제안 키워드
7-DoF, Active Sensing, Compliant motion control, Contact locations, Control strategy, Robot Control, Robot kinematics, Robotic system, Sensing Strategy, Simulation Environment, estimation algorithm