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- W2152351276 abstract "This paper describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates." @default.
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- W2152351276 date "2003-02-01" @default.
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- W2152351276 title "Polyhedral contact formation modeling and identification for autonomous compliant motion" @default.
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- W2152351276 doi "https://doi.org/10.1109/tra.2002.805677" @default.
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