Abstract
This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. 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) force estimation for feedback to a force controller or for monitoring contact forces, (iii) reduction of the number of modelling parameters, leading to computational reduction and more accurate geometric descriptions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Slaets, P., Rutgeerts, J., Gadeyne, K., Lefebvre, T., Bruyninckx, H., De Schutter, J. (2006). Construction of a geometric 3-D model from sensor measurements collected during compliant motion. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_54
Download citation
DOI: https://doi.org/10.1007/11552246_54
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
eBook Packages: EngineeringEngineering (R0)