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Online Contact Point Estimation for Uncalibrated Tool Use
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Yiannis Karayiannidis, Christian Smith, Francisco Viña and Danica Kragic
2014 IEEE International Conference on Robotics and Automation (ICRA'14).
Abstract
One of the big challenges for robots working
outside of traditional industrial settings is the ability to robustly
and flexibly grasp and manipulate tools for various tasks. When
a tool is interacting with another object during task execution,
several problems arise: a tool can be partially or completely
occluded from the robot's view, it can slip or shift in the robot's
hand - thus, the robot may lose the information about the exact
position of the tool in the hand. Thus, there is a need for online
calibration and/or recalibration of the tool. In this paper, we
present a model-free online tool-tip calibration method that
uses force/torque measurements and an adaptive estimation
scheme to estimate the point of contact between a tool and the
environment. An adaptive force control component guarantees
that interaction forces are limited even before the contact point
estimate has converged. We also show how to simultaneously
estimate the location and normal direction of the surface being
touched by the tool-tip as the contact point is estimated. The
stability of the overall scheme and the convergence of
the estimated parameters are theoretically proven and the
performance is evaluated in experiments on a real robot.
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Online Contact Point Estimation for Uncalibrated Tool Use