01669nas a2200241   4500000000100000000000100001008004100002260000900043653002100052653001800073653002300091653001300114653002500127100002300152700001800175700002200193700002200215700002200237245012000259300001200379490000600391520103000397       2002                            d  c200210acompliant motion10aIMM estimator10aon-line estimation10aTracking10atransition detection1 aLyudmila Mihaylova1 aTine Lefebvre1 aErnesto Staffetti1 aHerman Bruyninckx1 aJoris De Schutter00aContact Transitions Tracking During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator  a114-1290 v93 a<p>This article addresses both monitoring of contact transitions and estimation of unknown first-order geometric parameters during force-controlled motion. A robotic system is tasked to move an object among a sequence of contact configurations with the environment, under partial knowledge of geometric parameters (positions and orientations) of the manipulated objects and of the environment itself. The authors provide an example of a compliant motion task with multiple contacts, namely that of moving a cube into a corner. It is shown that by describing the contact configurations with different models and using the multiple model approach it is possible: (i) to detect effectively at each moment the current contact configuration and (ii) to estimate accurately the unknown parameters. The reciprocity constraints between ideal reaction forces and velocities are used as measurement equations. An Interacting Multiple Model (IMM) estimator is implemented and its performance is evaluated based on experimental data.</p>