9 Task Planning with Active Sensing

Abstract

This chapter describes the calculation of a compliant motion task plan which improves the observation of the inaccurately known geometrical parameters (i.e., the positions, orientations and dimensions of the contacting objects). This is called active sensing. The experiment of the previous chapter shows

• 1 that active sensing is necessary in order to obtain accurate parameter estimates. The motions executed during the experiment are constant translational and rotational velocities which trigger the CF transitions, see Fig. 8.1. However, these motions are not sufficiently exciting to identify all geometrical parameters.

• 2 that the wrench measurements are less reliable than the pose and twist measurements due to the unmodelled friction. Therefore, the activesensing task plans in this chapter are designed based on pose and twist information only. I.e., the pose and twist measurements of the active sensing task plan provide enough information to estimate the geometrical parameters to the desired accuracy.

  Because the task is planned based on only the pose and twist information, the symbol x in this chapter refers to the vector of the geometrical parameters without the wrench decomposition variables, which are only needed in the wrench equations.