Simultaneous estimation of contact position and tool shape using an unscented particle filter

Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


The robots used in our daily lives come in contact with the environment not only directly, but also through grasped objects and tools. In such cases, the shape of the grasped objects could be unknown or uncertain; thus, the shape must be estimated using information about the contact. However, previous studies could not estimate the shape of the grasped objects without knowledge about the contact environment. In this study, unscented particle filters were used to estimate the contact positions, contact forces, and shape of the tools, simultaneously. In addition, we verified that the proposed method can estimate these characteristics by measuring the force and torque in the robots.

Original languageEnglish
Pages (from-to)505-514
Number of pages10
JournalIEEJ Journal of Industry Applications
Issue number5
Publication statusPublished - 2020 Sept 1
Externally publishedYes


  • Contact position estimation
  • Intrinsic contact sensing
  • Particle filter
  • Tool shape estimation

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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