Low-cost accelerometers for robotic manipulator perception

Low-cost accelerometers for robotic manipulator perception

We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Quigley, M, Brewer, R, Soundararaj, S P, Pradeep, V, Quoc Le, Ng, A Y
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Accelerometers
Calibration
Joints
Manipulators
Robot sensing systems
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 6174
container_issue
container_start_page 6168
container_title
container_volume
creator Quigley, M
Brewer, R
Soundararaj, S P
Pradeep, V
Quoc Le
Ng, A Y
description We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators.
doi_str_mv 10.1109/IROS.2010.5649804
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5649804</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5649804</ieee_id><sourcerecordid>5649804</sourcerecordid><originalsourceid>FETCH-LOGICAL-c266t-5592d0dd651e1e43c167481cd22592d53feb6252c9794c27f910a45c497833b83</originalsourceid><addsrcrecordid>eNpVkNtKxDAQhuMJXNY-gHjTF-iawyRNvJPF1YXCgofrJZ1OodJuShoR396Ki-DVz_wffMwMY9eCr4Tg7nb7vHtZST6P2oCzHE5Y5korQAIYUxo4ZQsptCq4NebsHwN-_se0vWTZNL1zPqtKZ51ZsLsqfBYYppR7ROophoESxSlvQ8xjqEPqMB_8oRs_ep_mbqSINKYuHK7YRev7ibJjLtnb5uF1_VRUu8ft-r4qUBqTCq2dbHjTGC1IECgU81ZWYCPlD9GqpdpILdGVDlCWrRPcg0aYr1CqtmrJbn69HRHtx9gNPn7tj59Q3_TPTFg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Low-cost accelerometers for robotic manipulator perception</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Quigley, M ; Brewer, R ; Soundararaj, S P ; Pradeep, V ; Quoc Le ; Ng, A Y</creator><creatorcontrib>Quigley, M ; Brewer, R ; Soundararaj, S P ; Pradeep, V ; Quoc Le ; Ng, A Y</creatorcontrib><description>We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 9781424466740</identifier><identifier>ISBN: 1424466741</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781424466764</identifier><identifier>EISBN: 1424466768</identifier><identifier>EISBN: 142446675X</identifier><identifier>EISBN: 9781424466757</identifier><identifier>DOI: 10.1109/IROS.2010.5649804</identifier><language>eng</language><publisher>IEEE</publisher><subject>Accelerometers ; Calibration ; Joints ; Manipulators ; Robot sensing systems</subject><ispartof>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, p.6168-6174</ispartof><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c266t-5592d0dd651e1e43c167481cd22592d53feb6252c9794c27f910a45c497833b83</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5649804$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2057,27924,54919</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5649804$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Quigley, M</creatorcontrib><creatorcontrib>Brewer, R</creatorcontrib><creatorcontrib>Soundararaj, S P</creatorcontrib><creatorcontrib>Pradeep, V</creatorcontrib><creatorcontrib>Quoc Le</creatorcontrib><creatorcontrib>Ng, A Y</creatorcontrib><title>Low-cost accelerometers for robotic manipulator perception</title><title>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators.</description><subject>Accelerometers</subject><subject>Calibration</subject><subject>Joints</subject><subject>Manipulators</subject><subject>Robot sensing systems</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424466740</isbn><isbn>1424466741</isbn><isbn>9781424466764</isbn><isbn>1424466768</isbn><isbn>142446675X</isbn><isbn>9781424466757</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkNtKxDAQhuMJXNY-gHjTF-iawyRNvJPF1YXCgofrJZ1OodJuShoR396Ki-DVz_wffMwMY9eCr4Tg7nb7vHtZST6P2oCzHE5Y5korQAIYUxo4ZQsptCq4NebsHwN-_se0vWTZNL1zPqtKZ51ZsLsqfBYYppR7ROophoESxSlvQ8xjqEPqMB_8oRs_ep_mbqSINKYuHK7YRev7ibJjLtnb5uF1_VRUu8ft-r4qUBqTCq2dbHjTGC1IECgU81ZWYCPlD9GqpdpILdGVDlCWrRPcg0aYr1CqtmrJbn69HRHtx9gNPn7tj59Q3_TPTFg</recordid><startdate>20100101</startdate><enddate>20100101</enddate><creator>Quigley, M</creator><creator>Brewer, R</creator><creator>Soundararaj, S P</creator><creator>Pradeep, V</creator><creator>Quoc Le</creator><creator>Ng, A Y</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20100101</creationdate><title>Low-cost accelerometers for robotic manipulator perception</title><author>Quigley, M ; Brewer, R ; Soundararaj, S P ; Pradeep, V ; Quoc Le ; Ng, A Y</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c266t-5592d0dd651e1e43c167481cd22592d53feb6252c9794c27f910a45c497833b83</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Accelerometers</topic><topic>Calibration</topic><topic>Joints</topic><topic>Manipulators</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Quigley, M</creatorcontrib><creatorcontrib>Brewer, R</creatorcontrib><creatorcontrib>Soundararaj, S P</creatorcontrib><creatorcontrib>Pradeep, V</creatorcontrib><creatorcontrib>Quoc Le</creatorcontrib><creatorcontrib>Ng, A Y</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Quigley, M</au><au>Brewer, R</au><au>Soundararaj, S P</au><au>Pradeep, V</au><au>Quoc Le</au><au>Ng, A Y</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Low-cost accelerometers for robotic manipulator perception</atitle><btitle>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2010-01-01</date><risdate>2010</risdate><spage>6168</spage><epage>6174</epage><pages>6168-6174</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424466740</isbn><isbn>1424466741</isbn><eisbn>9781424466764</eisbn><eisbn>1424466768</eisbn><eisbn>142446675X</eisbn><eisbn>9781424466757</eisbn><abstract>We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2010.5649804</doi><tpages>7</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2153-0858
ispartof 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, p.6168-6174
issn 2153-0858
2153-0866
language eng
recordid cdi_ieee_primary_5649804
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Accelerometers
Calibration
Joints
Manipulators
Robot sensing systems
title Low-cost accelerometers for robotic manipulator perception
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-09T02%3A52%3A09IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Low-cost%20accelerometers%20for%20robotic%20manipulator%20perception&rft.btitle=2010%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Quigley,%20M&rft.date=2010-01-01&rft.spage=6168&rft.epage=6174&rft.pages=6168-6174&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=9781424466740&rft.isbn_list=1424466741&rft_id=info:doi/10.1109/IROS.2010.5649804&rft_dat=%3Cieee_6IE%3E5649804%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781424466764&rft.eisbn_list=1424466768&rft.eisbn_list=142446675X&rft.eisbn_list=9781424466757&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5649804&rfr_iscdi=true