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Identification of Contact Formations: Resolving Ambiguous Force Torque Information

Hertkorn, Katharina and Roa, Maximo A. and Preusche, Carsten and Borst, Christoph and Hirzinger, Gerd (2012) Identification of Contact Formations: Resolving Ambiguous Force Torque Information. ICRA 2012, 14-18 May 2012, St. Paul, Minnesota, USA.

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Abstract

This paper presents the identification of contact formations using force torque information. As force torque measurements do not map uniquely to their corresponding contact formations, three steps are performed: Initially, the wrench space for each contact formation is computed automatically. Then, a contact formation graph is augmented with a similarity index that reflects the similarity of contact formations with respect to their spanned wrench spaces. A particle filter is used to represent the likeliness of a contact formation given a force torque measurement. Finally, this probability distribution is resolved taking the similarity index, the transitions of the contact formation graph and the history of identified contact formations into account. This allows the recognition of the order of demonstrated contact formations by a measured set of forces and torques. The approach is verified by experiments.

Document Type:Conference or Workshop Item (Paper)
Title:Identification of Contact Formations: Resolving Ambiguous Force Torque Information
Authors:
AuthorsInstitution or Email of Authors
Hertkorn, Katharinakatharina.hertkorn@dlr.de
Roa, Maximo A.UNSPECIFIED
Preusche, CarstenUNSPECIFIED
Borst, ChristophUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:May 2012
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:contact formation; assembly
Event Title:ICRA 2012
Event Location:St. Paul, Minnesota, USA
Event Type:international Conference
Event Dates:14-18 May 2012
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Katharina Hertkorn
Deposited On:02 Apr 2012 09:37
Last Modified:12 Dec 2013 21:38

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