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

Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji

doi:10.1541/ieejjia.9.505

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

Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	505-514
Number of pages	10
Journal	IEEJ Journal of Industry Applications
Volume	9
Issue number	5
DOIs	https://doi.org/10.1541/ieejjia.9.505
Publication status	Published - 2020 Sept 1
Externally published	Yes

Keywords

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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10.1541/ieejjia.9.505

Cite this

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title = "Simultaneous estimation of contact position and tool shape using an unscented particle filter",

abstract = "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.",

keywords = "Contact position estimation, Intrinsic contact sensing, Particle filter, Tool shape estimation",

author = "Kyo Kutsuzawa and Sho Sakaino and Toshiaki Tsuji",

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AU - Kutsuzawa, Kyo

AU - Sakaino, Sho

AU - Tsuji, Toshiaki

N1 - Funding Information: As future work, the proposed method will be generalized to include nonparametric shape representation. Acknowledgment This work was supported by Grant-in-Aid for JSPS Research Fellow, No. 18J14272. Publisher Copyright: © 2020 The Institute of Electrical Engineers of Japan.

PY - 2020/9/1

Y1 - 2020/9/1

N2 - 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.

AB - 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.

KW - Contact position estimation

KW - Intrinsic contact sensing

KW - Particle filter

KW - Tool shape estimation

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

Abstract

Keywords

ASJC Scopus subject areas

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