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Adaptive Contact Point Estimation for Autonomous Tool Manipulation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.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: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0001-5129-342X
2014 (English)Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Autonomous grasping and manipulation of toolsenables robots to perform a large variety of tasks in unstructuredenvironments such as households. Many commonhousehold tasks involve controlling the motion of the tip of a toolwhile it is in contact with another object. Thus, for these types oftasks the robot requires knowledge of the location of the contactpoint while it is executing the task in order to accomplish themanipulation objective. In this work we propose an integraladaptive control law that uses force/torque measurements toestimate online the location of the contact point between thetool manipulated by the robot and the surface which the tooltouches

Place, publisher, year, edition, pages
2014.
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-165682OAI: oai:DiVA.org:kth-165682DiVA: diva2:808743
Conference
Autonomous Grasping and Manipulation Workshop at the IEEE International Conference on Robots and Automation, Hong Kong, May 31 2014
Note

QC 20150506

Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2015-05-06Bibliographically approved

Open Access in DiVA

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Authority records BETA

Vina, FranciscoSmith, ChristianKragic, DanicaKarayiannidis, Yiannis

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Vina, FranciscoSmith, ChristianKragic, DanicaKarayiannidis, Yiannis
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Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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