Proprioception for collision detection
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/80833
Tipus de documentProjecte Final de Màster Oficial
Data2014
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Nowadays a lot of research is done in the eld of human-robot interaction to allow robots to work
in human environments. Haptic perception is crucial for human and robot safety since it allows to
detect contacts. It is also important for surface exploration be able to detect contact between a
robot and its environment. This thesis presents a probabilistic representation of contacts in order
to complement or in some cases replace computer vision systems. Torque measurements were used
to determine probable collisions (i.e. positions and forces) on robot links. The suggested algorithm
were tested in simulation and afterwards experiments were done with the robot arm Kuka LWR.
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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Thesis.pdf | Report | 9,084Mb | Visualitza/Obre |