Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements

TitleDecentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements
Publication TypeConference Paper
Year of Publication2015
AuthorsFranchi, A, Petitti, A, Rizzo, A
Conference Name2015 IEEE Int. Conf. on Robotics and Automation
Pagination5517-5522
Date Published05/2015
Conference LocationSeattle, WA
Abstract

In this paper, a distributed approach for the estimation of kinematic and inertial parameters of an unknown rigid body is presented. The body is manipulated by a pool of ground mobile manipulators. Each robot retrieves a noisy measurement of its velocity and the contact forces applied to the body. Kinematics and dynamics arguments are used to distributively estimate the relative positions of the contact points. Subsequently, distributed estimation filters and nonlinear observers are used to estimate the body mass, the relative position between its geometric center and its center of mass, and its moment of inertia. The manipulation strategy is functional to the estimation process, and is suitably designed to satisfy nonlinear observability conditions that are necessary for the success of the estimation. Numerical results corroborate our theoretical findings.

Citation Key2015b-FraPetRiz
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