Work

Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms

Year: 2023

Type: conference-paper

Abstract: In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The proposed method has the following advan-tages. First, fast computation is achieved by proper preprocessing of robot meshes. Second, multi-contact can be identified with the aid of the base F/T sensor, while this is challenging when the robot is equipped with only JTSs. The proposed method is a modification of the standard particle filter to cope with mesh preprocessing and with available sensor data. In simulation validation, for a 7 degree-of-freedom robot, the algorithm runs at 2200Hz with 99.96% success rate for the single-contact case. In terms of the run-time, the proposed method was ≥3.5X faster compared to the existing methods. Dual and triple contacts are also reported in the manuscript.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra48891.2023.10161173

Authors: Seo Wook Han, Min Jun Kim

Institution: Korea Advanced Institute of Science and Technology

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Research Foundation, National Research Foundation of Korea, Ministry of Science and ICT, South Korea

Awards: G5483237125, G6390257013, G7794551393