Contact states: representation and recognizability in the presence of uncertainties
نویسندگان
چکیده
Recognition of contact states is often necessary or preferred in planning and executing contact-based assembly motions in the presence of uncertainties. However , due to inevitable uncertainties, not all contact states can be identiied at all contact conngurations. A crucial question is what kinds of contact states at what kinds of conngurations are impossible to be distinguished or identiied. In this paper, we address the question by analyzing the recognizability of contact states between convex polyhedral objects with both position/orientation and force/moment sensing in the presence of sensing uncertainties, i.e., by characterizing conngurations where contact states are intrinsically indistinguishable with those sensing means. To reeect contact recogniz-ability in contact representation, we propose a fuzzy definition of contact states. We further introduce a practical approach towards real-time automatic contact state identiication based on the recognizability analysis.
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