Author
Kaya, Osman, Yıldırım, Mehmet Can, Kuzuluk, Nisan, Çiçek, Emre, Bebek, Özkan, Öztop, Erhan, Uğurlu, Regaip Barkan
Publication Date
2015
Publication Place
-
IEEE
Subject
Compliant mechanisms, Dexterous manipulators, Force control, Mechanical contact, Stiction
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
2-s2.0-84962262261
Record ID
91924862-c830-423e-beda-b64c9bf27423
Library Location
Computer Science, Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
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
