Mostra el registre d'ítem simple
External force estimation during compliant robot manipulation
dc.contributor.author | Colomé Figueras, Adrià |
dc.contributor.author | Pardo Ayala, Diego Esteban |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2014-07-09T12:43:43Z |
dc.date.available | 2014-07-09T12:43:43Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Colomé, A. [et al.]. External force estimation during compliant robot manipulation. A: IEEE International Conference on Robotics and Automation. "The proceedings of the 2013 IEEE International Conference on Robotics and Automation". Karlsruhe: 2013, p. 3535-3540. |
dc.identifier.uri | http://hdl.handle.net/2117/23459 |
dc.description.abstract | This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learned based approach avoids the need of analytical models of friction or Coriolis dynamics effects. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Representació del coneixement |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robot learning |
dc.subject.other | manipulators robot dynamics Author keywords: external force estimation |
dc.subject.other | disturbance observer |
dc.subject.other | computed torque control |
dc.title | External force estimation during compliant robot manipulation |
dc.type | Conference report |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/ICRA.2013.6631072 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Intelligent robots |
dc.relation.publisherversion | http://dx.doi.org/10.1109/ICRA.2013.6631072 |
dc.rights.access | Open Access |
local.identifier.drac | 12997833 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/288233/EU/European Robotic Surgery/EUROSURGE |
local.citation.author | Colomé, A.; Pardo, D.E.; Alenyà, G.; Torras, C. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | Karlsruhe |
local.citation.publicationName | The proceedings of the 2013 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 3535 |
local.citation.endingPage | 3540 |