Contact Sensing from Force Measurements Export

@article{Bicchi_93, abstract = {This article addresses contact sensing (i.e., the problem of re solving the location of a contact, the force at the interface, and the moment about the contact normals). Called "intrinsic" contact sensing for the use of internal force and torque mea surements, this method allows for practical devices that provide simple, relevant contact information in practical robotic appli cations. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. This article describes the theoretical basis for their operation and provides a framework for future device design. 10.1177/027836499301200304}, author = {Bicchi, A. and Salisbury, J. and Brock, D.}, citeulike-article-id = {6067057}, citeulike-linkout-0 = {http://dx.doi.org/10.1177/027836499301200304}, citeulike-linkout-1 = {http://ijr.sagepub.com/content/12/3/249.abstract}, citeulike-linkout-2 = {http://ijr.sagepub.com/content/12/3/249.full.pdf}, day = {1}, doi = {10.1177/027836499301200304}, journal = {The International Journal of Robotics Research}, keywords = {force\_measurements, grasping}, month = {June}, number = {3}, pages = {249--262}, posted-at = {2009-11-04 09:06:11}, priority = {2}, title = {Contact Sensing from Force Measurements}, url = {http://dx.doi.org/10.1177/027836499301200304}, volume = {12}, year = {1993} }

TY - JOUR ID - Bicchi_93 L3 - citeulike-article-id:6067057 N2 - This article addresses contact sensing (i.e., the problem of re solving the location of a contact, the force at the interface, and the moment about the contact normals). Called "intrinsic" contact sensing for the use of internal force and torque mea surements, this method allows for practical devices that provide simple, relevant contact information in practical robotic appli cations. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. This article describes the theoretical basis for their operation and provides a framework for future device design. 10.1177/027836499301200304 IS - 3 JF - The International Journal of Robotics Research EP - 262 TI - Contact Sensing from Force Measurements VL - 12 SP - 249 KW - force_measurements KW - grasping AU - Bicchi, A AU - Salisbury, J AU - Brock, D PY - 1993/06/01/ UR - http://dx.doi.org/10.1177/027836499301200304 ER -