DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Seo Wook | ko |
dc.contributor.author | Kim, Min Jun | ko |
dc.date.accessioned | 2023-08-08T01:01:18Z | - |
dc.date.available | 2023-08-08T01:01:18Z | - |
dc.date.created | 2023-08-07 | - |
dc.date.issued | 2023-05-29 | - |
dc.identifier.citation | 2023 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.identifier.uri | http://hdl.handle.net/10203/311221 | - |
dc.description.abstract | In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The proposed method has the following advan-tages. First, fast computation is achieved by proper preprocessing of robot meshes. Second, multi-contact can be identified with the aid of the base F/T sensor, while this is challenging when the robot is equipped with only JTSs. The proposed method is a modification of the standard particle filter to cope with mesh preprocessing and with available sensor data. In simulation validation, for a 7 degree-of-freedom robot, the algorithm runs at 2200Hz with 99.96% success rate for the single-contact case. In terms of the run-time, the proposed method was ≥3.5X faster compared to the existing methods. Dual and triple contacts are also reported in the manuscript. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | 2023 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.identifier.conferencecountry | UK | - |
dc.identifier.conferencelocation | ExCeL London | - |
dc.identifier.doi | 10.1109/icra48891.2023.10161173 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
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