Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics

Tri Cong Phung; Hansang Chae; Min Jeong Kim; Dongmin Choi; Seung Hoon Shin; Hyungpil Moon; Ja Choon Koo; Hyouk Ryeol Choi

doi:10.1109/IROS.2011.6048374

Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics

Tri Cong Phung
, Hansang Chae
, Min Jeong Kim
, Dongmin Choi
, Seung Hoon Shin
, Hyungpil Moon
, Ja Choon Koo
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

The curvatures of an object play an important role in the shape reconstruction of that object. In this research, we suggest a method of estimating unknown curvatures using a coarse-resolution force torque sensor. First, a method of estimating unknown curvatures using large motions in terms of rolling and sliding is proposed. Next, a tracking algorithm for an unknown surface based on an inner position loop control algorithm is presented. An application of this method to the finger of a robot hand is also discussed. Finally, the algorithm is verified by simulations and experiments for several cylinders with different radii.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	1447-1452
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048374
State	Published - 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sep 2011 → 30 Sep 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

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10.1109/IROS.2011.6048374

Cite this

Phung, T. C., Chae, H., Kim, M. J., Choi, D., Shin, S. H., Moon, H., Koo, J. C., & Choi, H. R. (2011). Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1447-1452). Article 6048374 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048374

@inproceedings{c347d1cb26424969a925d7f43dd699da,

title = "Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics",

abstract = "The curvatures of an object play an important role in the shape reconstruction of that object. In this research, we suggest a method of estimating unknown curvatures using a coarse-resolution force torque sensor. First, a method of estimating unknown curvatures using large motions in terms of rolling and sliding is proposed. Next, a tracking algorithm for an unknown surface based on an inner position loop control algorithm is presented. An application of this method to the finger of a robot hand is also discussed. Finally, the algorithm is verified by simulations and experiments for several cylinders with different radii.",

author = "Phung, \{Tri Cong\} and Hansang Chae and Kim, \{Min Jeong\} and Dongmin Choi and Shin, \{Seung Hoon\} and Hyungpil Moon and Koo, \{Ja Choon\} and Choi, \{Hyouk Ryeol\}",

year = "2011",

doi = "10.1109/IROS.2011.6048374",

language = "English",

isbn = "9781612844541",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "1447--1452",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

}

Phung, TC, Chae, H, Kim, MJ, Choi, D, Shin, SH, Moon, H , Koo, JC & Choi, HR 2011, Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048374, IEEE International Conference on Intelligent Robots and Systems, pp. 1447-1452, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048374

Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics. / Phung, Tri Cong; Chae, Hansang; Kim, Min Jeong et al.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1447-1452 6048374 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Phung, Tri Cong

AU - Chae, Hansang

AU - Kim, Min Jeong

AU - Choi, Dongmin

AU - Shin, Seung Hoon

AU - Moon, Hyungpil

AU - Koo, Ja Choon

AU - Choi, Hyouk Ryeol

PY - 2011

Y1 - 2011

N2 - The curvatures of an object play an important role in the shape reconstruction of that object. In this research, we suggest a method of estimating unknown curvatures using a coarse-resolution force torque sensor. First, a method of estimating unknown curvatures using large motions in terms of rolling and sliding is proposed. Next, a tracking algorithm for an unknown surface based on an inner position loop control algorithm is presented. An application of this method to the finger of a robot hand is also discussed. Finally, the algorithm is verified by simulations and experiments for several cylinders with different radii.

AB - The curvatures of an object play an important role in the shape reconstruction of that object. In this research, we suggest a method of estimating unknown curvatures using a coarse-resolution force torque sensor. First, a method of estimating unknown curvatures using large motions in terms of rolling and sliding is proposed. Next, a tracking algorithm for an unknown surface based on an inner position loop control algorithm is presented. An application of this method to the finger of a robot hand is also discussed. Finally, the algorithm is verified by simulations and experiments for several cylinders with different radii.

UR - https://www.scopus.com/pages/publications/84455179870

U2 - 10.1109/IROS.2011.6048374

DO - 10.1109/IROS.2011.6048374

M3 - Conference contribution

AN - SCOPUS:84455179870

SN - 9781612844541

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1447

EP - 1452

BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

Phung TC, Chae H, Kim MJ, Choi D, Shin SH, Moon H et al. Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1447-1452. 6048374. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2011.6048374

Estimation of unknown curvature using a coarse-resolution sensor and contact kinematics

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