Abstract
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the object topology. We present a general algorithm to estimate the inherent articulation models by exploiting the momentum of the articulated system along with the interaction wrench while manipulating the object. We validate our approach with experiments in a simulation environment.
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Acknowledgments
This work is supported by PACE project which has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodwska-Curie grant agreement No 642961.
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Tirupachuri, Y., Traversaro, S., Nori, F., Pucci, D. (2020). Momentum-Based Topology Estimation of Articulated Objects. In: Bi, Y., Bhatia, R., Kapoor, S. (eds) Intelligent Systems and Applications. IntelliSys 2019. Advances in Intelligent Systems and Computing, vol 1038. Springer, Cham. https://doi.org/10.1007/978-3-030-29513-4_79
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DOI: https://doi.org/10.1007/978-3-030-29513-4_79
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