On observing contact states in overconstrained manipulation

Research output: Chapter in Book/Report/Conference proceedingChapter


Estimation of contact state is important to any multi-point interaction that involves frictional stick/slip phenomena. In particular, when there are more kinematic constraints than there are degrees of freedom, some contact interfaces must slip, leading to the need for contact state estimation. Fortunately, supervisory control techniques from adaptive control can be applied to this problem with relatively little modification. We discuss this approach in terms of a distributed manipulation experiment developed to explore overconstrained manipulation. In this context, we show in a simulated model that on-line contact state estimation dramatically improves performance over methods that estimate contact states off-line.

Original languageEnglish (US)
Title of host publicationMulti-point Interaction with Real and Virtual Objects
Number of pages13
StatePublished - Dec 1 2005

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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