IROS 2024poster0 citations
Robotic valve turning: axial misalignment estimation from reaction torques
Gautami Golani, Sri Harsha Turlapati, Lin Yang, Mohammad Zaidi Bin Ariffin, Domenico Campolo
Abstract
In this work, we present a simplified quasi-static model of a two-point contact gripper turning a circular valve to predict the reaction torques produced at the base of the valve as a function of the axis misalignment. Specifically, we learned that geometric features such as (i) the misalignment vector being tangent to the reaction torques, (ii) length of the misalignment vector being directly proportional to the magnitude of the reaction torques and (iii) small axial misalignments resulting in well defined ‘double-loops’ in the 2D reaction torques space are indicative of axis misalignment.
BibTeX
@inproceedings{iros2024_roboticvalveturn,
title = {Robotic valve turning: axial misalignment estimation from reaction torques},
author = {Gautami Golani and Sri Harsha Turlapati and Lin Yang and Mohammad Zaidi Bin Ariffin and Domenico Campolo},
booktitle = {IROS 2024},
year = {2024}
}