NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Contact detection and contact motion for error recovery in the presence of uncertaintiesDue to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties.
Document ID
19930002768
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Xiao, Jing
(North Carolina Univ. Charlotte, NC, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1992
Publication Information
Publication: NASA. Lyndon B. Johnson Space Center, Fifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), Volume 1
Subject Category
Computer Programming And Software
Accession Number
93N11956
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
No Preview Available