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http://hdl.handle.net/10119/18455
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| Title: | Estimating the Center of Mass of an Unknown Object via Dynamic Pushing |
| Authors: | Gao, Ziyan
Elibol, Armagan
Chong, Nak Young |
| Issue Date: | 2022-08-21 |
| Magazine name: | IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022) |
| Abstract: | An object’s inertial parameters, such as the mass, the center of mass (CoM), and the moment of inertia, affect the response to the external forces exerted on it. It is important to estimate these parameters in order to facilitate robot-led automation including grasping and manipulation. Traditionally, the estimation is conducted by a specific hardware in a controlled environment, which may not be always available for a robotic system. We propose an efficient novel method for estimating the CoM of an object via force sensor-less dynamic pushing and a vision sensor detecting the change in the object’s pose. The simulation results showed that the proposed method achieved an accurate and stable estimation under both the unknown isotropic and anisotropic floor friction conditions. |
| Rights: | Copyright (c) 2022 Authors. Ziyan Gao, Armagan Elibol, Nak Young Chong, IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022), 2022. |
| URI: | http://hdl.handle.net/10119/18455 |
| Material Type: | author |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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Files in This Item:
| File |
Description |
Size | Format |
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| N-CHONG-I-0904.pdf | | 1691Kb | Adobe PDF | View/Open |
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