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. © Springer-Verlag Berlin/Heidelberg 2006.
CITATION STYLE
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. Springer Tracts in Advanced Robotics, 21, 571–580. https://doi.org/10.1007/11552246_54
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