External force estimation during compliant robot manipulation

This paper presents a method to estimate external forces exerted on a manipulator during motion, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learning-based approach avoids the need of analytical models of joints' friction or Coriolis dynamics effects.

• Publication year

  2013

• Venue

  IEEE International Conference on Robotics and Automation

• Publication date

  2013-05-06

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/ICRA.2013.6631072
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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