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Discontinuity Detection for Force-based Manipulation
Antoine Schlechter , Dominik Henrich

Abstract (english)
In manipulation, workpieces have to be placed in an exact relationship to other objects that usually constrain the possible motions of the workpiece. Thus, control of a manipulation task can often be done by detecting the changes in the set of constraints acting on the workpiece. In the case of hard positional constraints on rigid objects, the detection can be done using simple thresholds on measured forces and/or moments. When some of these constraints are non-rigid (i. e. elastic), forces and moments vary during motions even if there is no change in the constraints, making it difficult if not impossible to find appropriate thresholds for forces and moments. In such situations changes in the constraints mostly lead to discontinuities (i. e. jumps and corners) in the measured force and moment signals. This paper presents a constant time algorithm for jump and corner detection in 1-dimensional sensor signals.

Publication data

Year: 2006
Publication date: 20. May 2006
Editor: IEEE
Source: IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 15 - 19, 2006
Project: RODEO
Keywords (english): corner detection , discontinuity detection , Force-Torque , jump detection


  TITLE             = "Discontinuity Detection for Force-based Manipulation",
  AUTHOR            = "Schlechter, Antoine and Henrich, Dominik",
  YEAR              = "2006",
  EDITOR            = "IEEE",
  JOURNAL           = "IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 15 - 19, 2006",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
schlechter2006a.Discontinuity.Detection.for.Forcebased.Manipulation.pdf   390.7K   english   PDF   download preprint

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