Carnegie Mellon University
Browse

Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand

Download (1.04 MB)
journal contribution
posted on 2011-05-01, 00:00 authored by Gurdayal S. Koonjul, Garth ZeglinGarth Zeglin, Nancy Pollard

Manipulators with compliant actuation exhibit passive joint displacements when exposed to external forces or collisions. This paper demonstrates that this displacement information is sufficient to infer a coarse estimate of the location of an incidental collision. Three techniques for contact point detection are compared: a closed-form inference model based on a serial chain with joint springs, a variation on Self Posture Changeability, and an empirical memory-based model of joint trajectories. The methods were experimentally tested using a Shadow Hand on an industrial Motoman SDA10 arm to quantify localization performance, actively discover and avoid a thin obstacle and localize and grasp a cup

History

Date

2011-05-01

Usage metrics

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC