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

Download the digital copy of the doc pdf document

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.