Haptic exploration of unknown surfaces with discontinuities

Rodrigo S. Jamisola, Petar Kormushev, Antonio Bicchi, Darwin G. Caldwell

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    This work presents an approach for exploring unknown surfaces with discontinuities using only force/torque information. The motivation is to build an information map of an unknown object or environment by performing a fully-autonomous haptic exploration. Examples of discontinuities considered here are contours with sharp turns (such as wall corners) and abrupt dips (such as cliffs). Compliant motion control using force information has the ability to conform to unknown, smooth surfaces but not to discontinuous surfaces. This paper investigates solutions to address the limitation in compliant motion control over discontinuities while maintaining a desired normal force along the surface. We propose two methods to address the problem: (1) superposition of motion and force control and (2) rotation of axes for force and motion control. The theoretical principles are discussed and experimental results with a KUKA lightweight arm moving in 2D space are presented. Both approaches successfully negotiate objects with sharp 90-degree and 120-degree turns while still maintaining good tracking of the desired force.

    Original languageEnglish
    Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1255-1260
    Number of pages6
    ISBN (Electronic)9781479969340
    DOIs
    Publication statusPublished - Oct 31 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: Sep 14 2014Sep 18 2014

    Other

    Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    CountryUnited States
    CityChicago
    Period9/14/149/18/14

    Fingerprint

    Motion control
    Force control
    Torque

    All Science Journal Classification (ASJC) codes

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Jamisola, R. S., Kormushev, P., Bicchi, A., & Caldwell, D. G. (2014). Haptic exploration of unknown surfaces with discontinuities. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1255-1260). [6942718] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942718
    Jamisola, Rodrigo S. ; Kormushev, Petar ; Bicchi, Antonio ; Caldwell, Darwin G. / Haptic exploration of unknown surfaces with discontinuities. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1255-1260
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    Jamisola, RS, Kormushev, P, Bicchi, A & Caldwell, DG 2014, Haptic exploration of unknown surfaces with discontinuities. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942718, Institute of Electrical and Electronics Engineers Inc., pp. 1255-1260, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6942718

    Haptic exploration of unknown surfaces with discontinuities. / Jamisola, Rodrigo S.; Kormushev, Petar; Bicchi, Antonio; Caldwell, Darwin G.

    IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1255-1260 6942718.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    Jamisola RS, Kormushev P, Bicchi A, Caldwell DG. Haptic exploration of unknown surfaces with discontinuities. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1255-1260. 6942718 https://doi.org/10.1109/IROS.2014.6942718