Active sensing for the identification of geometrical parameters during autonomous compliant motion

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 2599-2604

  Lefebvre, Tine ^a   Bruyninckx, Herman ^a   De Schutter, Joris ^a  

^a UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE MEASUREMENT; IDENTIFICATION (CONTROL SYSTEMS); MOBILE ROBOTS; OBSERVABILITY; VELOCITY MEASUREMENT;

COMPLIANT MOTION TRAJECTORY PLANNING; GEOMETRICAL PARAMETERS;

MOTION PLANNING;

EID: 0345308338     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (25)

1. G. Hovland and B. J. McCarragher, "Hidden Markov models as a process monitor in robotic assembly," Int. J. Rob. Res., vol. 17, no. 2, pp. 153-168, 1998.
2. Marjorie Skubic and Richard A. Volz, "Identifying single-ended contact formations from force sensor patterns," IEEE Trans. Aut. Contr., vol. 16, no. 5, pp. 597-603, 2000.
3. Shinichi Hirai and Kazuaki Iwata, "Recognition of contact state based on geometric model," in IEEE Int. Conf. Rob. Autom., 1992, pp. 1507-1512.
4. A.O. Farahat, B.S. Graves, and J.C. Trinkle, "Identifying contact formations in the presence of uncertainty," in IEEE Int. Conf. Intel. Rob. Sys., 1995, pp. 59-64.
5. J. De Schutter, H. Bruynickx, S. Dutré, J. DeGreeter, J. Katupitiya, S. Demey, and T. Lefebvre, "Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motions," Int. J. Rob. Res., vol. 18, no. 12, pp. 1161-1184, 1999.
6. T. Debus, P. Dupont, and R. Howe, "Contact state estimation using multiple model estimation and Hidden Markov Models," in 8th Int. Symp. Exper. Rob. 2002, Advanced Robotics Series, Springer Verlag.
7. J.K. Salisbury, "Active stiffness control of a manipulator in cartesian coordinates," in IEEE Conf. Decision and Control, 1980.
8. M. Erdmann, "Randomization of robot tasks," Int. J. Rob. Res., vol. 11, no. 2, pp. 399-436, 1992.
9. S.L. Ipri and H. Asada, "Force-guided robotic assembly using tuned dither and recursive parameter estimation," ASME Dynamic Systems and Control Meeting, pp. 857-862, 1994.
10. S. Lee and H.H. Hahn, "A perturbation/correlation method for force guided robot assembly," IEEE Trans. Rob. Aut., vol. 15, no. 4, pp. 764-773, 1999.
11. S. Thrun, "Probabilistic algorithms in robotics," AI Magazine, vol. 21, no. 4, pp. 93-109, 2000.
12. Frédéric Bourgault, Alexei A. Makarenko, Stefan B. Williams, Ben Grocholsky, and Hugh F. Durrant-Whyte, "Information based adaptive robotic exploration," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002, pp. 540-545.
13. L. Mihaylova, J. De Schutter, and H. Bruyninckx, "A multisine approach for trajectory optimization based on information gain," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002, pp. 661-666.
14. R.S. Desai and R. Volz, "Identification and verification of termination conditions in fine motion in presence of sensor errors and geometric uncertainties," in IEEE Int. Conf. Rob. Aut., 1989, pp. 800-807.
15. M. Spreng, "A probabilistic method to analyze ambiguous contact situations," in IEEE Int. Conf. Rob. Aut., 1993, pp. 543-548.
16. K. Kitagaki, T. Ogasawara, and T. Suehiro, "Methods to detect contact state by force sensing in an edge mating task," in IEEE Int. Conf. Rob. Aut., 1993, vol. 2, pp. 701-706.
17. T. Lefebvre, H. Bruyninckx, and J. De Schutter, "Polyhedral contact formation modeling and identification for autonomous compliant motion," IEEE Trans. Rob. Aut., vol. 19, no. 1, 2003.
18. T. Lefebvre, H. Bruyninckx, and J. De Schutter, "Exact bayesian inference for a class of nonlinear systems with application to robotic assembly," in Bayesian Statistics 7, pp. 587-596. Oxford University Press, 2003.
19. R.A. Fisher, "On the mathematical foundations of theoretical statistics," Phil. Trans. Royal Soc. A, vol. 222, pp. 309-368, 1922.
20. C. Radhakrisuna Rao, "Information and the accuracy attainable in the estimation of statistical parameters," Bulletin of the Calcutta Mathematical Society, vol. 37, pp. 81-91, 1945.
21. Harald Cramér, Mathematical methods of Statistics, Princeton University Press, New Jersey, 1946.
22. Harry Cramér, Mathematical methods of Statistics, Princeton University Press, New Jersey, 1946.
23. Harry L. Van Trees, Detection, Estimation and Modulation Theory, Vol I, Wiley and Sons, New York, 1968.
24. J. Xiao and X. Ji, "Automatic generation of high-level contact state space," International Journal of Robotics Research, vol. 20, no. 7, pp. 584-606, 2001.
25. H. Hirukawa, Y. Papegay, and T. Matsui, "A motion planning algorithm for convex polyhedra in contact under translation and rotation," in IEEE Int. Conf. Rob. Aut., 1994, pp. 3020-3027.