Publication
External force estimation for textile grasp detection
Conference Article
Conference
IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation (IROS BRG)
Edition
2012
Pages
1-1
Doc link
http://www.ias.informatik.tu-darmstadt.de/Research/IROS2012
File
Abstract
Our current work on external force estimation without end-effector force sensor is presented. To verify if a grasp of a textile has been successful, the xternal wrench applied on the robot is computed online, with a state observer based on a LWPR model of a task.
Categories
intelligent robots, manipulators, robot dynamics.
Author keywords
grasp detection, force estimation
Scientific reference
A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation for textile grasp detection, 2012 IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation, 2012, Vilamoura, Portugal, pp. 1-1.
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