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Polyhedral contact formation modeling and identification for autonomous compliant motion

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3 Author(s)
Lefebvre, T. ; Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium ; Bruyninckx, H. ; De Schutter, J.

This paper describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 1 )