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Conference Paper
An Active Sensing Strategy for Contact Location using Robot Kinematics and Geometry
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- Authors
- Hooman Lee, Jaeheung Park
- Issue Date
- 2012-10
- Citation
- International Conference on Intelligent Robots and Systems (IROS) 2012, pp.1-4
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- New techniques to sense contact location and control robots in general contact situations are developed for articulated robotic systems. To overcome limitations of existing sensing methods, active sensing approaches are investigated by utilizing robot kinematics and geometry. Compliant motion control is used so that robot can actively search for the contact while the robot maintains the desired estimated contacts. The precise estimation of contact location improves robot control in contact situation. In this aspect, a new control strategy is investigated to accommodate the proposed sensing techniques in contact situations. Both of the proposed estimation algorithm and the control strategy serve as complementary. Then the proposed algorithm is verified by experiments with 7-DOF hardware and simulation environment.
- KSP Keywords
- 7-DoF, Active Sensing, Compliant motion control, Control strategy, General contact, Robot Control, Robot kinematics, Robotic system, Sensing Strategy, Simulation Environment, estimation algorithm