TY - GEN
T1 - Recognizing object surface properties using impedance perception
AU - Kikuuwe, Ryo
AU - Yoshikawa, Tsuneo
PY - 2003/1/1
Y1 - 2003/1/1
N2 - Using the impedance perception algorithm, which we previously proposed, the stiffness matrix that constrains the motion-force relation of the robot's eudeffector is obtained on-line. This paper describes two methods of extracting information on local properties of object surfaces from the stiffness matrix when the end-effector is slid on the surfaces. At the present time, the scope is limited to two classes of surfaces; flat and convex cylindrical surfaces. Since the proposed perception technique is designed separately from control strategics, and they can be used for both autonomous and remote controlled robots. Results of preliminary experiments are presented.
AB - Using the impedance perception algorithm, which we previously proposed, the stiffness matrix that constrains the motion-force relation of the robot's eudeffector is obtained on-line. This paper describes two methods of extracting information on local properties of object surfaces from the stiffness matrix when the end-effector is slid on the surfaces. At the present time, the scope is limited to two classes of surfaces; flat and convex cylindrical surfaces. Since the proposed perception technique is designed separately from control strategics, and they can be used for both autonomous and remote controlled robots. Results of preliminary experiments are presented.
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U2 - 10.1109/MHS.2003.1249944
DO - 10.1109/MHS.2003.1249944
M3 - Conference contribution
AN - SCOPUS:84945135292
T3 - MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
SP - 251
EP - 258
BT - MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Symposium on Micromechatronics and Human Science, MHS 2003
Y2 - 19 October 2003 through 22 October 2003
ER -