Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

  title={Identification of Contact Dynamics Parameters for Stiff Robotic Payloads},
  author={Diederik Verscheure and Inna Sharf and Herman Bruyninckx and Jan Swevers and Joris De Schutter},
  journal={IEEE Transactions on Robotics},
This paper investigates and demonstrates the feasibility of identifying contact dynamics parameters for stiff robotic payloads using a robotic system. The contact dynamics model for stiff payloads is motivated, and theoretical parameter values and bounds are provided. Then, the effect of nonidealities such as surface roughness and plastic deformation on the theoretical values is demonstrated. A row-wise-scaled total least-squares parameter estimation algorithm is proposed and applied to… CONTINUE READING
Highly Cited
This paper has 28 citations. REVIEW CITATIONS
19 Citations
43 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 19 extracted citations


Publications referenced by this paper.
Showing 1-10 of 43 references

Über die berührung fester elastischer körper

  • H. Hertz
  • J. Reine Angew. Math., vol. 92, pp. 156–171, 1881…
  • 1881
Highly Influential
12 Excerpts

Nonlinear contact parameter estimation for robotic systems with payload

  • X. Mu, I. Sharf
  • presented at the ASME Int. Conf. Multibody Syst…
  • 2007
Highly Influential
4 Excerpts

Multiple loading–unloading of an elastic–plastic spherical contact

  • Y. Kadin, Y. Kligerman, I. Etsion
  • Int. J. Solids Struct., vol. 43, pp. 7119– 7127…
  • 2006
Highly Influential
4 Excerpts

Contact parameter estimation using a space manipulator verification facility

  • J. Agar
  • Master’s thesis, Dept. Mech. Eng., McGill Univ…
  • 2004
Highly Influential
4 Excerpts

An extension of Hertz’s theory in contact mechanics

  • G. Fu
  • J. Appl. Mech., vol. 74, pp. 373–374, 2007.
  • 2007
3 Excerpts

Similar Papers

Loading similar papers…