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

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 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 language	English
Title of host publication	Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
Place of Publication	Cancun, Mexico
Publisher	Institute of Electrical and Electronics Engineers
Pages	442-447
Number of pages	6
ISBN (Electronic)	978-1-5090-4718-5
ISBN (Print)	978-1-5090-4719-2
DOIs	https://doi.org/10.1109/HUMANOIDS.2016.7803313
Publication status	Published - 17 Nov 2016
Event	2016 IEEE-RAS 16th International Conference on Humanoid Robots - The Westin Resort & Spa, Cancun, Mexico Duration: 15 Nov 2016 → 17 Nov 2016 http://www.humanoids2016.org/

Publication series

Name
Publisher	IEEE
ISSN (Electronic)	2164-0580

Conference

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

Access to Document

10.1109/HUMANOIDS.2016.7803313

ICHR16_0086_FI-2Accepted author manuscript, 2.09 MB

http://ieeexplore.ieee.org/document/7803313/

Cite this

@inproceedings{15cca375b97a458ea3dc1b56f688cec3,

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 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.",

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

year = "2016",

month = nov,

day = "17",

doi = "10.1109/HUMANOIDS.2016.7803313",

language = "English",

isbn = "978-1-5090-4719-2",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "442--447",

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

address = "United States",

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

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

}

Azad, M, Ortenzi, V, Lin, H-C, Rueckert, E & Mistry, M 2016, Model Estimation and Control of Compliant Contact Normal Force. in Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. Institute of Electrical and Electronics Engineers, Cancun, Mexico, pp. 442-447, 2016 IEEE-RAS 16th International Conference on Humanoid Robots, Cancun, Mexico, 15/11/16. https://doi.org/10.1109/HUMANOIDS.2016.7803313

Model Estimation and Control of Compliant Contact Normal Force. / Azad, Morteza ; Ortenzi, Valerio ; Lin, Hsiu-Chin et al.
Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. Cancun, Mexico: Institute of Electrical and Electronics Engineers, 2016. p. 442-447.

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

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 - 2016/11/17

Y1 - 2016/11/17

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 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.

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 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.

U2 - 10.1109/HUMANOIDS.2016.7803313

DO - 10.1109/HUMANOIDS.2016.7803313

M3 - Conference contribution

SN - 978-1-5090-4719-2

SP - 442

EP - 447

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

PB - Institute of Electrical and Electronics Engineers

CY - Cancun, Mexico

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

Y2 - 15 November 2016 through 17 November 2016

ER -

Model Estimation and Control of Compliant Contact Normal Force

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