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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/18786
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| タイトル: | Estimating the Center of Mass of an Object with Non-uniform Density via High-speed Pushing |
| 著者: | Gao, Ziyan
Elibol, Armagan
Chong, Nak Young |
| 発行日: | 2023-08 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) |
| 開始ページ: | 1 |
| 終了ページ: | 8 |
| DOI: | 10.1109/CASE56687.2023.10260431 |
| 抄録: | 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 as accurately as possible in order to facilitate robot-led automation including grasping and manipulation. Traditionally, the estimation is conducted by employing special equipment in a controlled environment, which may not be always available for a small batch production system dealing with unknown objects. We propose an efficient exploratory type framework for estimating an object’s CoM via force sensor-less high-speed robotic pushing, which only requires the use of a vision system for detecting the change in the object’s pose. Accurately estimating an object’s CoM aids robotic grasping and expands manipulation scenarios. We conducted intensive simulation and real robot experiments to show the accuracy of the estimation, robustness to friction variation, and generalization capability to novel objects, that the framework ensures only with a limited number of pushes. |
| Rights: | This is the author's version of the work. Copyright (C) 2023 IEEE. 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, pp. 1-8, doi: 10.1109/CASE56687.2023.10260431. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| URI: | http://hdl.handle.net/10119/18786 |
| 資料タイプ: | author |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| N-CHONG-I-1122-3.pdf | | 2514Kb | Adobe PDF | 見る/開く |
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