External force estimation during compliant robot manipulation

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/23459

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
dc.contributor	Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.author	Colomé Figueras, Adrià
dc.contributor.author	Pardo Ayala, Diego Esteban
dc.contributor.author	Alenyà Ribas, Guillem
dc.contributor.author	Torras, Carme
dc.date	2013
dc.identifier.citation	Colomé, A. [et al.]. External force estimation during compliant robot manipulation. A: IEEE International Conference on Robotics and Automation. "The proceedings of the 2013 IEEE International Conference on Robotics and Automation". Karlsruhe: 2013, p. 3535-3540.
dc.identifier.citation	10.1109/ICRA.2013.6631072
dc.identifier.uri	http://hdl.handle.net/2117/23459
dc.language.iso	eng
dc.relation	http://dx.doi.org/10.1109/ICRA.2013.6631072
dc.relation	info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
dc.relation	info:eu-repo/grantAgreement/EC/FP7/288233/EU/European Robotic Surgery/EUROSURGE
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Representació del coneixement
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robot learning
dc.subject	manipulators robot dynamics Author keywords: external force estimation
dc.subject	disturbance observer
dc.subject	computed torque control
dc.subject	Robòtica
dc.subject	Classificació INSPEC::Automation::Robots::Intelligent robots
dc.title	External force estimation during compliant robot manipulation
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learned based approach avoids the need of analytical models of friction or Coriolis dynamics effects.
dc.description.abstract	Peer Reviewed

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