Abstract
This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. Following improvements with respect to the state of the art are made: (i) creation of a 3-D model from a previously unknown environment, (ii) force estimation for feedback to a force controller or for monitoring contact forces, (iii) reduction of the number of modelling parameters, leading to computational reduction and more accurate geometric descriptions.
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© 2006 Springer-Verlag Berlin Heidelberg
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Slaets, P., Rutgeerts, J., Gadeyne, K., Lefebvre, T., Bruyninckx, H., De Schutter, J. (2006). Construction of a geometric 3-D model from sensor measurements collected during compliant motion. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_54
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DOI: https://doi.org/10.1007/11552246_54
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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