Model estimation and control of compliant contact normal force

Morteza Azad; Valerio Ortenzi; Hsiu-chin Lin; Elmar Rueckert; Michael Mistry

doi:10.1109/HUMANOIDS.2016.7803313

Model estimation and control of compliant contact normal force

Morteza Azad, Valerio Ortenzi, Hsiu-chin Lin, Elmar Rueckert, Michael Mistry

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

231 Downloads (Pure)

Abstract

This paper proposes a method to realize desired contact normal forces between humanoids and their compliant environment. By using contact models, desired contact forces are converted to desired deformations of compliant surfaces. To achieve desired forces, deformations are controlled by controlling the contact point positions. Parameters of contact models are assumed to be known or estimated using the approach described in this paper. The proposed methods for estimating the contact parameters and controlling the contact normal force are implemented on a LWR KUKA IV arm. To verify both methods, experiments are performed with the KUKA arm while its end-effector is in contact with two different soft objects.

Original language	English
Title of host publication	Proceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids 2016)
Publisher	IEEE Computer Society Press
Pages	442-447
DOIs	https://doi.org/10.1109/HUMANOIDS.2016.7803313
Publication status	Published - 2 Jan 2017
Event	2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) - The Westin Resort & Spa, Cancun, Mexico Duration: 15 Nov 2016 → 17 Nov 2016 http://www.humanoids2016.org/

Publication series

Name
ISSN (Electronic)	2164-0580

Conference

Conference	2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
Country/Territory	Mexico
City	Cancun
Period	15/11/16 → 17/11/16
Internet address	http://www.humanoids2016.org/

Keywords

Dynamics
Humanoid robots
Force
Estimation
Acceleration
Motion control

Access to Document

10.1109/HUMANOIDS.2016.7803313Licence: None: All rights reserved

Humanoids16a
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Accepted author manuscript, 2.07 MBLicence: None: All rights reserved

http://ieeexplore.ieee.org/document/7803313/Licence: None: All rights reserved

Cite this

@inproceedings{85f91d113d484503979f24926533c2be,

title = "Model estimation and control of compliant contact normal force",

abstract = "This paper proposes a method to realize desired contact normal forces between humanoids and their compliant environment. By using contact models, desired contact forces are converted to desired deformations of compliant surfaces. To achieve desired forces, deformations are controlled by controlling the contact point positions. Parameters of contact models are assumed to be known or estimated using the approach described in this paper. The proposed methods for estimating the contact parameters and controlling the contact normal force are implemented on a LWR KUKA IV arm. To verify both methods, experiments are performed with the KUKA arm while its end-effector is in contact with two different soft objects.",

keywords = "Dynamics, Humanoid robots, Force, Estimation, Acceleration, Motion control",

author = "Morteza Azad and Valerio Ortenzi and Hsiu-chin Lin and Elmar Rueckert and Michael Mistry",

year = "2017",

month = jan,

day = "2",

doi = "10.1109/HUMANOIDS.2016.7803313",

language = "English",

publisher = "IEEE Computer Society Press",

pages = "442--447",

booktitle = "Proceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids 2016)",

note = "2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) ; Conference date: 15-11-2016 Through 17-11-2016",

url = "http://www.humanoids2016.org/",

}

Azad, M, Ortenzi, V, Lin, H, Rueckert, E & Mistry, M 2017, Model estimation and control of compliant contact normal force. in Proceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids 2016). IEEE Computer Society Press, pp. 442-447, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 15/11/16. https://doi.org/10.1109/HUMANOIDS.2016.7803313

TY - GEN

T1 - Model estimation and control of compliant contact normal force

AU - Azad, Morteza

AU - Ortenzi, Valerio

AU - Lin, Hsiu-chin

AU - Rueckert, Elmar

AU - Mistry, Michael

PY - 2017/1/2

Y1 - 2017/1/2

N2 - This paper proposes a method to realize desired contact normal forces between humanoids and their compliant environment. By using contact models, desired contact forces are converted to desired deformations of compliant surfaces. To achieve desired forces, deformations are controlled by controlling the contact point positions. Parameters of contact models are assumed to be known or estimated using the approach described in this paper. The proposed methods for estimating the contact parameters and controlling the contact normal force are implemented on a LWR KUKA IV arm. To verify both methods, experiments are performed with the KUKA arm while its end-effector is in contact with two different soft objects.

AB - This paper proposes a method to realize desired contact normal forces between humanoids and their compliant environment. By using contact models, desired contact forces are converted to desired deformations of compliant surfaces. To achieve desired forces, deformations are controlled by controlling the contact point positions. Parameters of contact models are assumed to be known or estimated using the approach described in this paper. The proposed methods for estimating the contact parameters and controlling the contact normal force are implemented on a LWR KUKA IV arm. To verify both methods, experiments are performed with the KUKA arm while its end-effector is in contact with two different soft objects.

KW - Dynamics

KW - Humanoid robots

KW - Force

KW - Estimation

KW - Acceleration

KW - Motion control

U2 - 10.1109/HUMANOIDS.2016.7803313

DO - 10.1109/HUMANOIDS.2016.7803313

M3 - Conference contribution

SP - 442

EP - 447

BT - Proceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids 2016)

PB - IEEE Computer Society Press

T2 - 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

Y2 - 15 November 2016 through 17 November 2016

ER -

Model estimation and control of compliant contact normal force

Abstract

Publication series

Conference

Keywords

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