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dc.contributor.authorColomé Figueras, Adrià
dc.contributor.authorPardo Ayala, Diego Esteban
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2014-07-09T12:43:43Z
dc.date.available2014-07-09T12:43:43Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationColomé, 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.urihttp://hdl.handle.net/2117/23459
dc.description.abstractThis 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.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Representació del coneixement
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobot learning
dc.subject.othermanipulators robot dynamics Author keywords: external force estimation
dc.subject.otherdisturbance observer
dc.subject.othercomputed torque control
dc.titleExternal force estimation during compliant robot manipulation
dc.typeConference report
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/ICRA.2013.6631072
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Intelligent robots
dc.relation.publisherversionhttp://dx.doi.org/10.1109/ICRA.2013.6631072
dc.rights.accessOpen Access
local.identifier.drac12997833
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/288233/EU/European Robotic Surgery/EUROSURGE
local.citation.authorColomé, A.; Pardo, D.E.; Alenyà, G.; Torras, C.
local.citation.contributorIEEE International Conference on Robotics and Automation
local.citation.pubplaceKarlsruhe
local.citation.publicationNameThe proceedings of the 2013 IEEE International Conference on Robotics and Automation
local.citation.startingPage3535
local.citation.endingPage3540


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