Recognizing Cylindrical Surface Using Impedance Perception

Ryo Kikuuwe, Tsuneo Yoshikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In a previous paper, we proposed the impedance perception technique, by which the stiffness matrix that constrains the motion-force relation of the robot's end-effector is estimated on-line, and the uncertainties of the estimates are evaluated. Based on this technique, this paper proposes a method of extracting information on local properties of a cylindrical curved surface, including normal direction, primary directions, curvature, and stiffness and friction coefficients, from the stiffness matrix obtained under the situation where the end-effector is slid on the surface. This technique can be implemented as an encapsulated perception function independent from control strategies, and thus it can be used for both autonomous and remote-controlled robots, and for direct monitoring of human manipulations. Results of preliminary experiments are presented.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages19-24
Number of pages6
Volume1
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

Fingerprint

Stiffness matrix
End effectors
Robots
Stiffness
Friction
Monitoring
Experiments
Uncertainty

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Kikuuwe, R., & Yoshikawa, T. (2003). Recognizing Cylindrical Surface Using Impedance Perception. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 19-24)

Recognizing Cylindrical Surface Using Impedance Perception. / Kikuuwe, Ryo; Yoshikawa, Tsuneo.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. p. 19-24.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kikuuwe, R & Yoshikawa, T 2003, Recognizing Cylindrical Surface Using Impedance Perception. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 19-24, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03.
Kikuuwe R, Yoshikawa T. Recognizing Cylindrical Surface Using Impedance Perception. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2003. p. 19-24
Kikuuwe, Ryo ; Yoshikawa, Tsuneo. / Recognizing Cylindrical Surface Using Impedance Perception. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. pp. 19-24
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