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External force estimation for textile grasp detection

Author
Colomé, A.; Pardo, D.E.; Alenyà, G.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2012 IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation
First page
1
Last page
1
Repository
http://hdl.handle.net/2117/18239 Open in new window
URL
http://www.ias.informatik.tu-darmstadt.de/Research/IROS2012 Open in new window
Abstract
Our current work on external force estimation without end-effector force sensor is resented.To verify if a grasp of a textile has been successful, the external wrench applied on the robot is computed online, with a state observer based on a LWPR [3] model of a task.
Citation
Colomé, A. [et al.]. External force estimation for textile grasp detection. A: IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation. "Proceedings of the 2012 IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation". Vilamoura: 2012, p. 1.
Keywords
force estimation, intelligent robots manipulators robot dynamics Author keywords: grasp detection
Group of research
GREC - Knowledge Engineering Research Group
ROBiri - IRI Robotics Group

Participants