Robot control in uncertain environments can greatly benefit from sensor based control. Visual sensing allows the robot to examine its surroundings and adapt to the environment. Force offers a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion several sensors measuring different modalities are combined together to give more accurate estimate of the environment. We present a method which fuses force and vision in an extended Kalman filter (EKF). A hybrid force controller is then set up to follow a trajectory based on the estimate from the EKF. The estimate allows a simple proportional force control to track a continuous trajectory reliably, where an unfiltered visual measurement becomes unstable. Experiments verify that the method can increase the stability of control considerably.
|Title of host publication||2009 International Conference on Advanced Robotics, ICAR 2009|
|Publication status||Published - 2009|
|MoE publication type||A4 Article in a conference publication|
|Event|| International Conference on Advanced Robotics - Munich, Germany|
Duration: 22 Jun 2009 → 26 Jun 2009
|Conference||International Conference on Advanced Robotics|
|Period||22/06/2009 → 26/06/2009|