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Online contact impedance identification for robotic systems

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2 Author(s)
Haddadi, A. ; Dept. of Electr. & Comput. Eng., Queen''s Univ., Kingston, ON ; Hashtrudi-Zaad, K.

In this paper, we study the performance of various algorithms for fast online identification of environment impedance during robotic contact tasks. In particular, we evaluate and compare algorithms with regard to their convergence rate, computational complexity and sensitivity to noise for different environments using a single degree-of-freedom experimental setup. The results provide some guidelines for choosing an appropriate identification algorithm for a specific application.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008