Bimanual folding assembly: Switched control and contact point estimation
Paper i proceeding, 2016

Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.

Assembly problems

Assembly systems

Unstructured environments Engineering main heading: Robotic assembly

Anthropomorphic robots

Switched controller

Assembly Added uncertainty

Switched control

Relative motion

Modular approach


Diogo Almeida

Kungliga Tekniska Högskolan (KTH)

Francisco E B Vina

Kungliga Tekniska Högskolan (KTH)

Yiannis Karayiannidis

Chalmers, Signaler och system, System- och reglerteknik

16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016

2164-0580 (eISSN)

Art no 7803279, Pages 210-216
9781509047185 (ISBN)


Robotteknik och automation


Datorseende och robotik (autonoma system)





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