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Journal Article An Active Sensing Strategy for Contact Location without Tactile Sensors Using Robot Geometry and Kinematics
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Authors
Hooman Lee, Jaeheung Park
Issue Date
2014-01
Citation
Autonomous Robots, v.36, no.1-2, pp.109-121
ISSN
0929-5593
Publisher
Springer
Language
English
Type
Journal Article
DOI
https://dx.doi.org/10.1007/s10514-013-9368-6
Project Code
13VC4500, Development of the control technology with sensor fusion based recognition for dual-arm work and the technology of manufacturing process with multi-ro, Kim Joong Bae
Abstract
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.
KSP Keywords
7-DoF, Active Sensing, Compliant motion control, Contact locations, Control strategy, Robot Control, Robot kinematics, Robotic system, Sensing Strategy, Simulation Environment, estimation algorithm