{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T14:41:32Z","timestamp":1648564892654},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2001,3,1]],"date-time":"2001-03-01T00:00:00Z","timestamp":983404800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,3]]},"abstract":"<jats:p>This paper \naddresses the problem of identifying the uncertainties present in a \nrobotic contact situation. These uncertainties are errors and misalignments of \nan object with respect to its ideal position. The paper \ndescribes how to solve for the errors caused during grasping \nand errors present when coming into contact with the environment. \nA force sensor is used together with Kalman Filters to \nsolve for all the uncertainties. The straightforward use of a \nforce sensor and the Kalman Filters is found to be \neffective in finding only some of the uncertainties in robotic \ncontact. The other uncertainties form dependencies that cannot be estimated \nin this manner. This dependency brings about the problem of \n<jats:italic>observability<\/jats:italic>. To make the unobservable uncertainties observable a sequence of \ncontacts are used. The error covariance matrix of the Kalman \nFilter (KF) is used to obtain new contacts that are \nrequired to solve for all the uncertainties completely. There is \ncomplete freedom in choosing which unobservable quantity to be excited \nin forming the next contact. The paper describes how these \nnew contacts can be randomly executed. A two dimensional contact \nsituation will be used to demonstrate the effectiveness of the \nmethod. Experimental data are also presented to prove the validity \nof the procedure. Due to the non-linear relationship between the \nuncertainties and the forces, an Extended Kalman Filter (EKF) has \nbeen used.<\/jats:p>","DOI":"10.1017\/s0263574700002903","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:39:16Z","timestamp":1027777156000},"page":"199-207","source":"Crossref","is-referenced-by-count":0,"title":["Random execution of a set of contacts to solve the \ngrasping and contact uncertainties in robotic tasks"],"prefix":"10.1017","volume":"19","author":[{"given":"Alvin","family":"Chua","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jayantha","family":"Katupitiya","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joris","family":"De Schutter","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,3,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002903","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,2]],"date-time":"2019-04-02T18:50:21Z","timestamp":1554231021000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002903\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,3]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2001,3]]}},"alternative-id":["S0263574700002903"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002903","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,3]]}}}