Environmental force estimation for a robotic hand : compliant contact detection

Name: Environmental force estimation for a robotic hand : compliant contact detection
Author: Kaya, Osman, Yıldırım, Mehmet Can, Kuzuluk, Nisan, Çiçek, Emre, Bebek, Özkan, Öztop, Erhan, Uğurlu, Regaip Barkan

İsim	Environmental force estimation for a robotic hand : compliant contact detection
Yazar	Kaya, Osman, Yıldırım, Mehmet Can, Kuzuluk, Nisan, Çiçek, Emre, Bebek, Özkan, Öztop, Erhan, Uğurlu, Regaip Barkan
Basım Tarihi:	2015
Basım Yeri	- IEEE
Konu	Compliant mechanisms, Dexterous manipulators, Force control, Mechanical contact, Stiction
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2-s2.0-84962262261
Kayıt Numarası	91924862-c830-423e-beda-b64c9bf27423
Lokasyon	Computer Science, Mechanical Engineering
Tarih	2015
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer based friction identification methods based to account for forces that arise due to Coriolis, gravity, stiction and viscous friction. With the effective compensation of these forces, disturbance observer units, implemented for each joint, allow us to estimate environmental interaction forces. To validate the effectiveness of the force estimation with our method, experiments were conducted on an anthropomorphic robot with no haptic sensing capability. The results of these experiments showed that the force estimation was in good agreement with the actual sensor measurements. To further elaborate the effectiveness of the method, compliant contact detection task was implemented on the robot. The result of this experiment indicated that environmental force estimation performance was enough to facilitate the task, and as such our method may eliminate the need for expensive force sensors at the finger tips or the joints for dexterous manipulation.
DOI	10.1109/HUMANOIDS.2015.7363444

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Environmental force estimation for a robotic hand : compliant contact detection

Yazar Kaya, Osman, Yıldırım, Mehmet Can, Kuzuluk, Nisan, Çiçek, Emre, Bebek, Özkan, Öztop, Erhan, Uğurlu, Regaip Barkan

Basım Tarihi 2015

Basım Yeri - IEEE

Konu Compliant mechanisms, Dexterous manipulators, Force control, Mechanical contact, Stiction

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2-s2.0-84962262261

Kayıt Numarası 91924862-c830-423e-beda-b64c9bf27423

Lokasyon Computer Science, Mechanical Engineering

Tarih 2015

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer based friction identification methods based to account for forces that arise due to Coriolis, gravity, stiction and viscous friction. With the effective compensation of these forces, disturbance observer units, implemented for each joint, allow us to estimate environmental interaction forces. To validate the effectiveness of the force estimation with our method, experiments were conducted on an anthropomorphic robot with no haptic sensing capability. The results of these experiments showed that the force estimation was in good agreement with the actual sensor measurements. To further elaborate the effectiveness of the method, compliant contact detection task was implemented on the robot. The result of this experiment indicated that environmental force estimation performance was enough to facilitate the task, and as such our method may eliminate the need for expensive force sensors at the finger tips or the joints for dexterous manipulation.

DOI 10.1109/HUMANOIDS.2015.7363444