Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact
Item
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Title
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en_US
Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact
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Creator
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en_US
Eberman, Brian Scott
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Date
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2004-10-20T20:27:47Z
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Date Available
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2004-10-20T20:27:47Z
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Date Issued
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en_US
1995-05-01
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Identifier
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en_US
AITR-1543
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Abstract
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en_US
This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.
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Extent
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3503392 bytes
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3404763 bytes
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Format
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application/postscript
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application/pdf
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Language
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en_US
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Relation
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en_US
AITR-1543