This paper improves previous work on the Kalman Filter based estimation of geometrical parameters... more This paper improves previous work on the Kalman Filter based estimation of geometrical parameters (positions, ori- entations and dimensions) of polyhedral objects in contact during a force-controlled compliant motion task. Following improvements are achieved: (i) the derivation of the esti- mation equations is considerably simplified; (ii) the set of position closure constraints is minimized; (iii) the geomet- rical parameter estimator
ó This paper describes the construction of a geometric 3-D model from the identication of geometr... more ó This paper describes the construction of a geometric 3-D model from the identication of geometrical parameters (vertices and faces) of rigid polyhedral objects in the environ- ment during the force-controlled execution of contact formation sequences. Following improvements with respect to the state of the art are made: (i) creation of a 3-D model from a previously unknown environment, (ii)
This paper describes the optimization of a compliant mo- tion task plan which guarantees the esti... more This paper describes the optimization of a compliant mo- tion task plan which guarantees the estimation of the inac- curately known position and orientation of the contacting objects to the required accuracy ("active sensing"). The task plan consists of (i) the desired sequence of contact for- mations and (ii) the compliant path to execute during each of these contact formations.
The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets... more The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets and closure equations of a number (l) of elementary CFs. This appendix describes how for each of these elementary contacts (1≤ j≤ l) a state vector x′j can be found which linearizes both the wrench spanning set Gj,k(x′j,td,k) and the closure equation hdj,k(x′j,td,k) = 0.
This paper improves previous work on the Kalman Filter based estimation of geometrical parameters... more This paper improves previous work on the Kalman Filter based estimation of geometrical parameters (positions, ori- entations and dimensions) of polyhedral objects in contact during a force-controlled compliant motion task. Following improvements are achieved: (i) the derivation of the esti- mation equations is considerably simplified; (ii) the set of position closure constraints is minimized; (iii) the geomet- rical parameter estimator
ó This paper describes the construction of a geometric 3-D model from the identication of geometr... more ó This paper describes the construction of a geometric 3-D model from the identication of geometrical parameters (vertices and faces) of rigid polyhedral objects in the environ- ment during the force-controlled execution of contact formation sequences. Following improvements with respect to the state of the art are made: (i) creation of a 3-D model from a previously unknown environment, (ii)
This paper describes the optimization of a compliant mo- tion task plan which guarantees the esti... more This paper describes the optimization of a compliant mo- tion task plan which guarantees the estimation of the inac- curately known position and orientation of the contacting objects to the required accuracy ("active sensing"). The task plan consists of (i) the desired sequence of contact for- mations and (ii) the compliant path to execute during each of these contact formations.
The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets... more The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets and closure equations of a number (l) of elementary CFs. This appendix describes how for each of these elementary contacts (1≤ j≤ l) a state vector x′j can be found which linearizes both the wrench spanning set Gj,k(x′j,td,k) and the closure equation hdj,k(x′j,td,k) = 0.
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