Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations

Author(s)
Pang, Tao; Umenberger, Jack; Tedrake, Russ
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Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
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Date issued
2021
URI
https://hdl.handle.net/1721.1/143983
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science; Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Journal
2021 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Pang, Tao, Umenberger, Jack and Tedrake, Russ. 2021. "Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations." 2021 IEEE International Conference on Robotics and Automation (ICRA).
Version: Author's final manuscript
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