Pose and motion from contact

Abstract

This work investigates the problem of determining the pose (orientation and position) and motion (velocity and angular velocity) of a planar object with known geometry from such contact motion generated by pushing. Under the Coulomb-friction model, focus is on support friction in the plane and/or contact friction between the finger and the object. Extensive simulations are carried out to demonstrate the feasibility of two observers. Preliminary experiments with an Adept robot are also made. Furthermore, a contact sensor is implemented using strain gauges.