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EKF-based In-hand Object Localization from Joint Position and Torque Measurements

Pfanne, Martin and Chalon, Maxime (2017) EKF-based In-hand Object Localization from Joint Position and Torque Measurements. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2464-2470. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24-28 Sep 2017, Vancouver, BC, Canada.

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Abstract

The ability to manipulate objects is the primary purpose of any robotic hand. However, when executing a grasp, the object and fingers rarely move exactly as planned. These unobserved deviations in the pose of the object or the contact configuration can make it impossible to solve a given task. In this paper, we presents a new approach to estimate the state of the grasp using only position and torque measurements from the joints of the hand. Based on the popular extended Kalman filter framework, the algorithm estimates the pose of the manipulated object, as well as the contact forces and positions on the surface of the object. It is able to reliably detect new and the loss of contacts and to incorporate this information in the estimation filter. The validity of this new method is shown in different grasp and manipulation tasks using David, a humanoid platform of DLR.

Item URL in elib:https://elib.dlr.de/115903/
Document Type:Conference or Workshop Item (Other)
Title:EKF-based In-hand Object Localization from Joint Position and Torque Measurements
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Pfanne, Martinmartin.pfanne (at) dlr.deUNSPECIFIED
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Date:September 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 2464-2470
Status:Published
Keywords:Perception for Grasping and Manipulation
Event Title:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Vancouver, BC, Canada
Event Type:international Conference
Event Dates:24-28 Sep 2017
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Pfanne, Martin
Deposited On:07 Dec 2017 16:29
Last Modified:31 Jul 2019 20:13

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