Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018. ; Cataloged from PDF version of thesis. ; Includes bibliographical references (pages 61-65). ; In order for robots to interact safely and intelligently with their environment they must be able to reliably estimate and localize external contacts. This paper introduces the CPF, the Contact Particle Filter, which is a general algorithm for detecting and localizing external contacts on rigid body robots without the need for external sensing. The CPF finds external contact points that best explain the observed external joint torque, and returns sensible estimates even when the external torque measurement is corrupted with noise. We demonstrate the capability of the CPF in multiple scenarios. We show how it can track multiple external contacts on a simulated Atlas robot, and also perform extensive simulation and hardware experiments on a Kuka iiwa robot arm. ; by Lucas Manuelli. ; S.M.


    Access

    Download


    Export, share and cite



    Title :

    Localizing external contact using proprioceptive sensors : the contact particle filter



    Publication date :

    2018-01-01


    Remarks:

    1036986776


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Proprioceptive Contact Force and Contact Point Estimation in a Stationary Snake Robot

    Løwer, Jostein / Gravdahl, Irja / Varagnolo, Damiano et al. | BASE | 2022

    Free access

    External force estimation for teleoperation based on proprioceptive sensors

    Sol, Enrique del / King, Ryan / Scott, Robin et al. | BASE | 2014

    Free access

    CONTACT SENSORS

    PODOLOFF ROBERT M / ALADRO CAMILO / HARTY MICHAEL et al. | European Patent Office | 2022

    Free access

    CONTACT SENSORS

    PODOLOFF ROBERT M / ALADRO CAMILO / GEORGE CHRISTOPHER et al. | European Patent Office | 2024

    Free access

    CONTACT SENSORS

    ALADRO CAMILO / GEORGE CHRISTOPHER / LOOMIS GARY et al. | European Patent Office | 2022

    Free access