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External force estimation for textile grasp detection

AuthorsColomé, Adrià ; Pardo, Diego; Alenyà, Guillem ; Torras, Carme
Issue Date2012
CitationIROS 2012
AbstractOur current work on external force estimation without end-effector force sensor is presented. To verify if a grasp of a textile has been successful, the xternal wrench applied on the robot is computed online, with a state observer based on a LWPR model of a task.
DescriptionPresentado al International Conference on Intelligent Robots and Systems, Workshop: Beyond Robot Grasping-Modern Approaches for Learning Dynamic Manipulation celebrado en Portugal del 7 al 12 de octubre de 2012.
Publisher version (URL)http://www.robot-learning.de/Research/IROS2012
Appears in Collections:(IRII) Comunicaciones congresos
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