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.
Item URL in elib: | https://elib.dlr.de/75291/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||
Title: | Identification of Contact Formations: Resolving Ambiguous Force Torque Information | ||||||||||||||||||
Authors: |
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Date: | May 2012 | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||||||||
Deposited By: | Hertkorn, Katharina | ||||||||||||||||||
Deposited On: | 02 Apr 2012 09:37 | ||||||||||||||||||
Last Modified: | 31 Jul 2019 19:35 |
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