Environmental force estimation for a robotic hand : compliant contact detection
dc.contributor.author | Kaya, Osman | |
dc.contributor.author | Yıldırım, Mehmet Can | |
dc.contributor.author | Kuzuluk, Nisan | |
dc.contributor.author | Çiçek, Emre | |
dc.contributor.author | Bebek, Özkan | |
dc.contributor.author | Öztop, Erhan | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2016-02-17T11:05:43Z | |
dc.date.available | 2016-02-17T11:05:43Z | |
dc.date.issued | 2015 | |
dc.identifier.uri | http://hdl.handle.net/10679/2852 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/7363444 | |
dc.description | Due to copyright restrictions, the access to the full text of this article is only available via subscription. | |
dc.description.abstract | This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer based friction identification methods based to account for forces that arise due to Coriolis, gravity, stiction and viscous friction. With the effective compensation of these forces, disturbance observer units, implemented for each joint, allow us to estimate environmental interaction forces. To validate the effectiveness of the force estimation with our method, experiments were conducted on an anthropomorphic robot with no haptic sensing capability. The results of these experiments showed that the force estimation was in good agreement with the actual sensor measurements. To further elaborate the effectiveness of the method, compliant contact detection task was implemented on the robot. The result of this experiment indicated that environmental force estimation performance was enough to facilitate the task, and as such our method may eliminate the need for expensive force sensors at the finger tips or the joints for dexterous manipulation. | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | |
dc.relation.ispartof | Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on | |
dc.rights | openAccess | |
dc.title | Environmental force estimation for a robotic hand : compliant contact detection | en_US |
dc.type | Conference paper | en_US |
dc.description.version | Post print | |
dc.peerreviewed | yes | |
dc.publicationstatus | published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0003-2721-9777 & YÖK ID 43734) Bebek, Özkan | |
dc.contributor.authorID | (ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Bebek, Özkan | |
dc.contributor.ozuauthor | Öztop, Erhan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.startpage | 791 | |
dc.identifier.endpage | 796 | |
dc.identifier.wos | WOS:000377954900119 | |
dc.identifier.doi | 10.1109/HUMANOIDS.2015.7363444 | |
dc.subject.keywords | Compliant mechanisms | |
dc.subject.keywords | Dexterous manipulators | |
dc.subject.keywords | Force control | |
dc.subject.keywords | Mechanical contact | |
dc.subject.keywords | Stiction | |
dc.identifier.scopus | SCOPUS:2-s2.0-84962262261 | |
dc.contributor.ozugradstudent | Kaya, Osman | |
dc.contributor.ozugradstudent | Yıldırım, Mehmet Can | |
dc.contributor.ozugradstudent | Kuzuluk, Nisan | |
dc.contributor.ozugradstudent | Çiçek, Emre | |
dc.contributor.authorMale | 6 | |
dc.contributor.authorFemale | 1 | |
dc.relation.publicationcategory | Conference Paper - International - Institutional Academic Staff and Graduate Student and Undergraduate Student |
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