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 proceedingConference contribution

Abstract / Description of output

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 control- ling 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 languageEnglish
Title of host publicationHumanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
Place of PublicationCancun, Mexico
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-5090-4718-5
ISBN (Print)978-1-5090-4719-2
Publication statusPublished - 17 Nov 2016
Event2016 IEEE-RAS 16th International Conference on Humanoid Robots - The Westin Resort & Spa, Cancun, Mexico
Duration: 15 Nov 201617 Nov 2016

Publication series

ISSN (Electronic)2164-0580


Conference2016 IEEE-RAS 16th International Conference on Humanoid Robots
Abbreviated titleHumanoids 2016
Internet address


Dive into the research topics of 'Model Estimation and Control of Compliant Contact Normal Force'. Together they form a unique fingerprint.

Cite this