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Model-free robot manipulation of doors and drawers by means of fixed-grasps
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-3653-4691
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7714-928X
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2013 (English)In: 2013 IEEE International Conference on Robotics and Automation (ICRA), New York: IEEE , 2013, 4485-4492 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects’ kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies onforce/torque measurements and estimation of the motion direction,rotational axis and the distance from the center of rotation.The method is suitable for any velocity controlled manipulatorwith a force/torque sensor at the end-effector. The force/torquecontrol regulates the applied forces and torques within givenconstraints, while the velocity controller ensures that the endeffectormoves with a task-related desired tangential velocity. The paper also provides a proof that the estimates converge tothe actual values. The method is evaluated in different scenarios typically met in a household environment.

Place, publisher, year, edition, pages
New York: IEEE , 2013. 4485-4492 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keyword [en]
Center of rotation, Force/torque sensor, Motion direction, Prior knowledge, Robot interactions, Robot manipulation, Tangential velocities, Velocity controllers
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-124597DOI: 10.1109/ICRA.2013.6631214ISI: 000337617304076Scopus ID: 2-s2.0-84887283565ISBN: 978-146735641-1 (print)OAI: oai:DiVA.org:kth-124597DiVA: diva2:637275
Conference
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe; Germany; 6 May 2013 through 10 May 2013
Funder
EU, FP7, Seventh Framework ProgrammeSwedish Research CouncilSwedish Foundation for Strategic Research
Note

QC 20140116

Available from: 2013-07-17 Created: 2013-07-17 Last updated: 2015-10-16Bibliographically approved

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icra2013Karayiannidis(1155 kB)33 downloads
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Karayiannidis, YiannisSmith, ChristianVina, FranciscoÖgren, PetterKragic, Danica

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