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dc.contributor.authorKaya, Osman
dc.contributor.authorYıldırım, Mehmet Can
dc.contributor.authorKuzuluk, Nisan
dc.contributor.authorÇiçek, Emre
dc.contributor.authorBebek, Özkan
dc.contributor.authorÖztop, Erhan
dc.contributor.authorUğurlu, Regaip Barkan
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.
dc.description.abstractThis 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.relation.ispartofHumanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
dc.titleEnvironmental force estimation for a robotic hand : compliant contact detectionen_US
dc.typeConference paperen_US
dc.contributor.departmentÖzyeğin 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.ozuauthorBebek, Özkan
dc.contributor.ozuauthorÖztop, Erhan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.subject.keywordsCompliant mechanisms
dc.subject.keywordsDexterous manipulators
dc.subject.keywordsForce control
dc.subject.keywordsMechanical contact
dc.contributor.ozugradstudentKaya, Osman
dc.contributor.ozugradstudentYıldırım, Mehmet Can
dc.contributor.ozugradstudentKuzuluk, Nisan
dc.contributor.ozugradstudentÇiçek, Emre
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student and Undergraduate Student

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