Polyhedral contact formation modeling and identification for autonomous compliant motion

This paper describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates.