NDLI: Contact feature extraction on a balancing manipulation platform

Content Provider	IEEE Xplore Digital Library
Author	McClung, A.J. Ying Zheng Morrell, J.B.
Copyright Year	2010
Description	Author affiliation: Yale University, New Haven, CT 06511 USA (McClung, A.J.; Ying Zheng) \|\| Mechanical Engineering at Yale University, New Haven, CT 06511 USA (Morrell, J.B.)
Abstract	The dynamic behavior of an inverted pendulum platform inherently reveals information about its interaction with the environment. The closed loop controller puts the unstable plant into dynamic equilibrium, where very small external forces result in persistent excitation of the system. Our previous work has shown that we are able to detect and estimate external forces on an inverted pendulum base using only dynamic state information from the controller. The Yale Inverted Pendulum Door Opening Robot (YIPDOR) has gained a simple 4 degree of freedom (DOF) arm with the goal of opening and traversing doorways with both heavy and sprung doors. We have explicitly omitted dedicated force sensors. Estimation methods using only the Jacobian and joint torques do not provide adequate estimates of external forces on this system. While improved force estimation continues to be a goal for the project, we propose that traversal of sprung doors may be accomplished with low-level, dynamic postures and detection of changes in dynamics rather than explicit force estimation and control. Changes in the equations of motion and dynamic constraints (contact, unlatching, door movement) are detected by using filtered derivatives of relevant parameters. This feature extraction research increases the safety and performance of the balancing and manipulation system without any additional dedicated sensors.
Starting Page	1774
Ending Page	1779
File Size	625554
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509280
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feature extraction Force control Force sensors Control systems Dynamic equilibrium State estimation Open loop systems Robot sensing systems Jacobian matrices Equations
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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