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N. Diolaiti, C. Melchiorri, S. Stramigioli
"Contact Impedance Estimation for Robotic Systems"
Type Conference
Author(s) N. Diolaiti, C. Melchiorri, S. Stramigioli
Title Contact Impedance Estimation for Robotic Systems
Editor IROS 2004 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Keywords Compliant contact, on-line estimation, Hunt-Crossley model
In this paper, the problem of on-line estimation of the mechanical impedance during the contact of a robotic system with an unknown environment is considered. This problem is of great interest when controlling a robot in an unstructured and unknown environment, such as in telemanipulation tasks, since it can be easily shown that the knowledge of the mechanical properties of the environment can greatly improve the performance of the robotic system. In particular, a single-point contact is considered and the (nonlinear) Hunt-Crossley model is taken into account instead of the classical (linear) Kelvin-Voigt model. Indeed, the former achieves a better physical consistency and allows to describe also the behavior of soft materials. Finally, the on-line estimation algorithm is described and experimental results presented and discussed.
Document 8a4a.Document.pdf (896247 bytes)
Year 2004

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