Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759340
Y. Maeda, O. Nakano, T. Maekawa, S. Maruo
This paper presents a robotic 3D printer: a robot system that can assemble toy brick sculptures from their 3D CAD models. In this system, a 3D CAD model is automatically converted to a block model consisting of primitive toy blocks. Then an assembly plan of the block model is automatically generated, if feasible. According to the plan, an industrial robot assembles a brick sculpture layer by layer from bottom to top. We demonstrate successful assembly of several brick sculptures.
{"title":"From CAD models to toy brick sculptures: A 3D block printer","authors":"Y. Maeda, O. Nakano, T. Maekawa, S. Maruo","doi":"10.1109/IROS.2016.7759340","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759340","url":null,"abstract":"This paper presents a robotic 3D printer: a robot system that can assemble toy brick sculptures from their 3D CAD models. In this system, a 3D CAD model is automatically converted to a block model consisting of primitive toy blocks. Then an assembly plan of the block model is automatically generated, if feasible. According to the plan, an industrial robot assembles a brick sculpture layer by layer from bottom to top. We demonstrate successful assembly of several brick sculptures.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129917250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759260
Ruben D'Sa, Devon Jenson, T. Henderson, J. Kilian, B. Schulz, M. Calvert, T. Heller, N. Papanikolopoulos
Throughout the wide range of aerial robot related applications, selecting a particular airframe is often a trade-off. Fixed-wing small-scale unmanned aerial vehicles (UAVs) typically have difficulty surveying at low altitudes while quadrotor UAVs, having more maneuverability, suffer from limited flight time. Recent prior work [1] proposes a solar-powered small-scale aerial vehicle designed to transform between fixed-wing and quad-rotor configurations. Surplus energy collected and stored while in a fixed-wing configuration is utilized while in a quad-rotor configuration. This paper presents an improvement to the robot's design in [1] by pursuing a modular airframe, an optimization of the hybrid propulsion system, and solar power electronics. Two prototypes of the robot have been fabricated for independent testing of the airframe in fixed-wing and quad-rotor states. Validation of the solar power electronics and hybrid propulsion system designs were demonstrated through a combination of simulation and empirical data from prototype hardware.
{"title":"SUAV:Q - An improved design for a transformable solar-powered UAV","authors":"Ruben D'Sa, Devon Jenson, T. Henderson, J. Kilian, B. Schulz, M. Calvert, T. Heller, N. Papanikolopoulos","doi":"10.1109/IROS.2016.7759260","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759260","url":null,"abstract":"Throughout the wide range of aerial robot related applications, selecting a particular airframe is often a trade-off. Fixed-wing small-scale unmanned aerial vehicles (UAVs) typically have difficulty surveying at low altitudes while quadrotor UAVs, having more maneuverability, suffer from limited flight time. Recent prior work [1] proposes a solar-powered small-scale aerial vehicle designed to transform between fixed-wing and quad-rotor configurations. Surplus energy collected and stored while in a fixed-wing configuration is utilized while in a quad-rotor configuration. This paper presents an improvement to the robot's design in [1] by pursuing a modular airframe, an optimization of the hybrid propulsion system, and solar power electronics. Two prototypes of the robot have been fabricated for independent testing of the airframe in fixed-wing and quad-rotor states. Validation of the solar power electronics and hybrid propulsion system designs were demonstrated through a combination of simulation and empirical data from prototype hardware.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132098389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759395
Keung Or, Mami Tomura, A. Schmitz, Satoshi Funabashi, S. Sugano
In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between various postures and with various objects. While passive compliance can be achieved in numerous ways, this paper uses soft skin, as it does not require complex mechanisms and was easy to integrate in the robot hand (Allegro hand). Softness has proven to significantly ease object grasping, and the current paper shows the importance of softness also for in-hand manipulation. In particular, the simple interpolation strategy between various postures is successful when combined with soft fingertips, with or without force control, but fails with hard fingertips. Objects of varying size, shape and hardness were reliably manipulated. While the soft fingertips enabled good results in our experiments, a sufficiently precise definition of the postures and object size was required. When combining the interpolation control with a force control strategy, bigger errors in defining the posture and object size are possible, without deforming or dropping the object, and the resultant force is lower. As a result, we achieved robust in-hand manipulation between various postures and with objects of different size, shape and hardness.
{"title":"Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation","authors":"Keung Or, Mami Tomura, A. Schmitz, Satoshi Funabashi, S. Sugano","doi":"10.1109/IROS.2016.7759395","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759395","url":null,"abstract":"In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between various postures and with various objects. While passive compliance can be achieved in numerous ways, this paper uses soft skin, as it does not require complex mechanisms and was easy to integrate in the robot hand (Allegro hand). Softness has proven to significantly ease object grasping, and the current paper shows the importance of softness also for in-hand manipulation. In particular, the simple interpolation strategy between various postures is successful when combined with soft fingertips, with or without force control, but fails with hard fingertips. Objects of varying size, shape and hardness were reliably manipulated. While the soft fingertips enabled good results in our experiments, a sufficiently precise definition of the postures and object size was required. When combining the interpolation control with a force control strategy, bigger errors in defining the posture and object size are possible, without deforming or dropping the object, and the resultant force is lower. As a result, we achieved robust in-hand manipulation between various postures and with objects of different size, shape and hardness.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123794342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759669
Hojung Jung, Yuki Oto, Óscar Martínez Mozos, Y. Iwashita, R. Kurazume
We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflectance point clouds obtained using a FARO laser scanner with synchronized color images. The second dataset consists of 34,200 real-time panoramic scans of sparse (70,000 points) 3D reflectance point clouds obtained using a Velodyne laser scanner while driving a car. The datasets were obtained in the city of Fukuoka, Japan and are publicly available in [1], [2]. In addition, we compare several approaches for semantic place categorization with best results of 96.42% (dense) and 89.67% (sparse).
{"title":"Multi-modal panoramic 3D outdoor datasets for place categorization","authors":"Hojung Jung, Yuki Oto, Óscar Martínez Mozos, Y. Iwashita, R. Kurazume","doi":"10.1109/IROS.2016.7759669","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759669","url":null,"abstract":"We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflectance point clouds obtained using a FARO laser scanner with synchronized color images. The second dataset consists of 34,200 real-time panoramic scans of sparse (70,000 points) 3D reflectance point clouds obtained using a Velodyne laser scanner while driving a car. The datasets were obtained in the city of Fukuoka, Japan and are publicly available in [1], [2]. In addition, we compare several approaches for semantic place categorization with best results of 96.42% (dense) and 89.67% (sparse).","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121176576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759153
Markku Suomalainen, V. Kyrki
Automating assembly processes outside controlled factory environments is still rare, mostly because of the inherent position uncertainties. The use of compliant motions allows robustness against the uncertainty, but automatic planning of compliant motion sequences is not computationally feasible. In this paper, we show how compliant assembly motions can be learned from human demonstrations. A human teacher will kinesthetically demonstrate compliant motions where the physical shapes of assembled parts guide the motion. From these demonstrations, the proposed method identifies desired direction of movement, the number of compliant axes and their directions. We use this information to construct an impedance controller which can reproduce the assembly motion despite uncertainty in the starting position. The method is studied with a KUKA LWR4+ arm in two test setups with different number of physically constrained degrees of freedom. The experimental study shows that the method is able to correctly identify the motion parameters and allows the robot to successfully perform the demonstrated assembly motion from various unseen starting positions.
{"title":"Learning compliant assembly motions from demonstration","authors":"Markku Suomalainen, V. Kyrki","doi":"10.1109/IROS.2016.7759153","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759153","url":null,"abstract":"Automating assembly processes outside controlled factory environments is still rare, mostly because of the inherent position uncertainties. The use of compliant motions allows robustness against the uncertainty, but automatic planning of compliant motion sequences is not computationally feasible. In this paper, we show how compliant assembly motions can be learned from human demonstrations. A human teacher will kinesthetically demonstrate compliant motions where the physical shapes of assembled parts guide the motion. From these demonstrations, the proposed method identifies desired direction of movement, the number of compliant axes and their directions. We use this information to construct an impedance controller which can reproduce the assembly motion despite uncertainty in the starting position. The method is studied with a KUKA LWR4+ arm in two test setups with different number of physically constrained degrees of freedom. The experimental study shows that the method is able to correctly identify the motion parameters and allows the robot to successfully perform the demonstrated assembly motion from various unseen starting positions.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130769699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759383
L. Lindenroth, Junghwan Back, Adrian Schoisengeier, Y. Noh, H. Wurdemann, K. Althoefer, Hongbin Liu
This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical manipulator for two defined pressure sequences. It is shown that the model behaves in a highly similar fashion in comparison to the manipulator. For both trajectories the maximum position error is close to 6 mm while the error in orientation not more than 18°. The methodology as described in this work reveals great applicability to the field of soft robots being limited only by the stiffness matrix assembly for the given system. Implementations of inverse kinematics and the effects of external force applications are effectively integrable in the described theory.
{"title":"Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator","authors":"L. Lindenroth, Junghwan Back, Adrian Schoisengeier, Y. Noh, H. Wurdemann, K. Althoefer, Hongbin Liu","doi":"10.1109/IROS.2016.7759383","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759383","url":null,"abstract":"This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical manipulator for two defined pressure sequences. It is shown that the model behaves in a highly similar fashion in comparison to the manipulator. For both trajectories the maximum position error is close to 6 mm while the error in orientation not more than 18°. The methodology as described in this work reveals great applicability to the field of soft robots being limited only by the stiffness matrix assembly for the given system. Implementations of inverse kinematics and the effects of external force applications are effectively integrable in the described theory.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130887789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759456
Nicolai Häni, Volkan Isler
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature tracking algorithm. Results from field experiments performed at an apple orchard demonstrate that our approach converges to a given termination criterion even under environmental influences such as strong winds, varying illumination conditions and partial occlusion of the target object. Further, we show experimentally that the system converges to the desired view for a wide range of initial conditions. This approach opens possibilities for new applications such as automated fruit inspection, fruit picking or precise pesticide application.
{"title":"Visual servoing in orchard settings","authors":"Nicolai Häni, Volkan Isler","doi":"10.1109/IROS.2016.7759456","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759456","url":null,"abstract":"We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature tracking algorithm. Results from field experiments performed at an apple orchard demonstrate that our approach converges to a given termination criterion even under environmental influences such as strong winds, varying illumination conditions and partial occlusion of the target object. Further, we show experimentally that the system converges to the desired view for a wide range of initial conditions. This approach opens possibilities for new applications such as automated fruit inspection, fruit picking or precise pesticide application.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129641735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759479
A. Prado, F. A. Cheeín, M. Torres-Torriti
Nowadays, agricultural and mining industry applications require saving energy in mobile robotic tasks. This critical issue encouraged us to enhance the performance of path tracking controllers during manoeuvring over slippery and rough terrains. In this scenario, we propose probabilistic approaches under machine learning schemes in order to optimally self-tune the controller. The approaches are real time implemented and tested in a mining machinery skid steer loader Cat® 262C under gravel and muddy terrains (and their transitions). Finally, experimental results presented in this work show that the performance of the controller enhances up to 20% (average) without compromising saturations in the actuators.
{"title":"Probabilistic approaches for self-tuning path tracking controllers using prior knowledge of the terrain","authors":"A. Prado, F. A. Cheeín, M. Torres-Torriti","doi":"10.1109/IROS.2016.7759479","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759479","url":null,"abstract":"Nowadays, agricultural and mining industry applications require saving energy in mobile robotic tasks. This critical issue encouraged us to enhance the performance of path tracking controllers during manoeuvring over slippery and rough terrains. In this scenario, we propose probabilistic approaches under machine learning schemes in order to optimally self-tune the controller. The approaches are real time implemented and tested in a mining machinery skid steer loader Cat® 262C under gravel and muddy terrains (and their transitions). Finally, experimental results presented in this work show that the performance of the controller enhances up to 20% (average) without compromising saturations in the actuators.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134360407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759105
E. Barrett, M. Fumagalli, R. Carloni
The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through interaction with the environment and make the system more robust, efficient, and safe. This paper discusses the design of leaf springs for a sub-class of VSAs that use variable lever arm ratios as means to change their output stiffness. Given the trade-off between compactness and the maximum energy storage capacity, the internal springs' dimensions and material choice are assessed through a theoretical analysis and practical experiments.
{"title":"Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator","authors":"E. Barrett, M. Fumagalli, R. Carloni","doi":"10.1109/IROS.2016.7759105","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759105","url":null,"abstract":"The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through interaction with the environment and make the system more robust, efficient, and safe. This paper discusses the design of leaf springs for a sub-class of VSAs that use variable lever arm ratios as means to change their output stiffness. Given the trade-off between compactness and the maximum energy storage capacity, the internal springs' dimensions and material choice are assessed through a theoretical analysis and practical experiments.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134034818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759550
Arne Wahrburg, A. Robertsson, Björn Matthias, F. Dai, Hao Ding
Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating the six components of external wrench. In this paper, we point out that the errors in CCFE estimates arising from inevitable uncertainties in available joint level information (either measurements or estimates) depend on the manipulator configuration. Based on this, an algorithm is proposed that resolves redundancy in an optimal way with respect of the achievable CCFE quality. For a given TCP pose, the joint configuration resulting in minimized CCFE errors is calculated. The proposed method is verified by means of experimental data gathered from a 7DOF manipulator.
{"title":"Improving contact force estimation accuracy by optimal redundancy resolution","authors":"Arne Wahrburg, A. Robertsson, Björn Matthias, F. Dai, Hao Ding","doi":"10.1109/IROS.2016.7759550","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759550","url":null,"abstract":"Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating the six components of external wrench. In this paper, we point out that the errors in CCFE estimates arising from inevitable uncertainties in available joint level information (either measurements or estimates) depend on the manipulator configuration. Based on this, an algorithm is proposed that resolves redundancy in an optimal way with respect of the achievable CCFE quality. For a given TCP pose, the joint configuration resulting in minimized CCFE errors is calculated. The proposed method is verified by means of experimental data gathered from a 7DOF manipulator.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133731559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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