Polyhedral contact formation identification for autonomous compliant motion: exact nonlinear bayesian filtering

Authors:
T. Lefebvre;H. Bruyninckx;Joris De Schutter
Affiliations:
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium;-;-
Venue:
IEEE Transactions on Robotics
Year:
2005

Citing 0
Cited 3

Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation

International Journal of Robotics Research
Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty

International Journal of Robotics Research
Integration of planning and execution in force controlled compliant motion

Robotics and Autonomous Systems

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Abstract

This work presents new experimental results for the estimation of large position and orientation inaccuracies of contacting objects during force-controlled compliant motion. The estimation is based on position, velocity, and force measurements. The authors have described the contact modeling and presented some Kalman filter identification results for small inaccuracies. However, when dealing with larger inaccuracies, the nonlinear estimation problem remained unsolved. This problem has now been solved satisfactorily by applying a new Bayesian estimator. The Bayesian filter is valid for static systems (parameter estimation) with any kind of nonlinear measurement equation, subject to Gaussian measurement uncertainty and for a limited class of dynamic systems. Experimental results of this new filter are given for the estimation of the positions and orientations of contacting objects during the cube-in-corner assembly described in the first reference.