Using Deep Neural Networks to Improve Contact Wrench Estimation of Serial Robotic Manipulators in Static Tasks

Using Deep Neural Networks to Improve Contact Wrench Estimation of Serial Robotic Manipulators in Static Tasks

Reliable force-driven robot-interaction requires precise contact wrench measurements. In most robot systems these measurements are severely incorrect and in most manipulation tasks expensive additional force sensors are installed. We follow a learning approach to train the dependencies between joint...

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Bibliographic Details
Main Authors: Jonas Osburg, Ivo Kuhlemann, Jannis Hagenah, Floris Ernst
Format: Article
Language:English
Published: Frontiers Media S.A. 2022-04-01
Series:Frontiers in Robotics and AI
Subjects:
deep learning
force estimation
wrench estimation
robotic manipulator
artificial neural network
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2022.892916/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2022.892916/full

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