The DOI matches its Crossref record; 12 of the 12 references it cites were found in a registry or an index.
Contact impedance estimation for robotic systems
Abstract
In this paper, the problem of online estimation of the mechanical impedance during the contact of a robotic system with an unknown environment is considered. This problem is of great interest when controlling a robot in an unstructured and unknown environment, such as in telemanipulation tasks, since it can be easily shown that the exploitation of the knowledge of the mechanical properties of the environment can greatly improve the performance of the robotic system. In particular, a single-point contact is considered, and the (nonlinear) Hunt-Crossley model is taken into account, instead of the classical (linear) Kelvin-Voigt model. Indeed, the former achieves a better physical consistency and also allows describing the behavior of soft materials. Finally, the online estimation algorithm is described and experimental results are presented and discussed.
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Cites
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Theory and Practice of Recursive Identification
Lennart Ljung, A., & Söderström, T. (1983) · Lund University Publications (Lund University) · Cited by 3,989
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Estimation and Tracking: Principles, Techniques, and Software
Bar‐Shalom, Y., & Li, X. (1993) · Medical Entomology and Zoology · Cited by 1,910
Coefficient of Restitution Interpreted as Damping in Vibroimpact
Hunt, K. H., & Crossley, F. R. E. (1975) · Journal of Applied Mechanics · doi:10.1115/1.3423596 · Cited by 1,665
Impact: the theory and physical behaviour of colliding solids.
Goldsmith, W., & Frasier, J. T. (1960) · Cited by 1,181
Discrete-time adaptive windowing for velocity estimation
Janabi-Sharifi, F., Hayward, V., & Chen, C.-S. J. (2000) · IEEE Transactions on Control Systems Technology · doi:10.1109/87.880606 · Cited by 287
A compliant contact model with nonlinear damping for simulation of robotic systems
Marhefka, D., & Orin, D. E. (1999) · IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans · doi:10.1109/3468.798060 · Cited by 228
Contact Stiffness and Damping Estimation for Robotic Systems
Erickson, D., Weber, M., & Sharf, I. (2003) · The International Journal of Robotics Research · doi:10.1177/027836403128964700 · Cited by 194
Environment estimation for enhanced impedance control
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Cited by
Toward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Metadata
- Authors
- Diolaiti, N., Melchiorri, C., & Stramigioli, S.
- Venue
- IEEE Transactions on Robotics
- Published
- 2005-10
- Volume
- 21
- Issue
- 5
- Pages
- 925-935
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2017280345
- Cited by
- 274
- References
- 12
- FWCI
- 27.26
- Type
- journal article
- Language
- en
- Open access
- closed
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