Recognizing object surface properties using impedance perception

Ryo Kikuuwe; Tsuneo Yoshikawa

doi:10.1109/MHS.2003.1249944

Recognizing object surface properties using impedance perception

Ryo Kikuuwe, Tsuneo Yoshikawa

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	251-258
Number of pages	8
ISBN (Electronic)	0780381653, 9780780381650
DOIs	https://doi.org/10.1109/MHS.2003.1249944
Publication status	Published - Jan 1 2003
Event	International Symposium on Micromechatronics and Human Science, MHS 2003 - Nagoya, Japan Duration: Oct 19 2003 → Oct 22 2003

Publication series

Name	MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science

Other

Other	International Symposium on Micromechatronics and Human Science, MHS 2003
Country	Japan
City	Nagoya
Period	10/19/03 → 10/22/03

All Science Journal Classification (ASJC) codes

Biotechnology
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/MHS.2003.1249944

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Kikuuwe, R., & Yoshikawa, T. (2003). Recognizing object surface properties using impedance perception. In MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science (pp. 251-258). [1249944] (MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2003.1249944

Recognizing object surface properties using impedance perception. / Kikuuwe, Ryo; Yoshikawa, Tsuneo.

MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc., 2003. p. 251-258 1249944 (MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kikuuwe, R & Yoshikawa, T 2003, Recognizing object surface properties using impedance perception. in MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science., 1249944, MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science, Institute of Electrical and Electronics Engineers Inc., pp. 251-258, International Symposium on Micromechatronics and Human Science, MHS 2003, Nagoya, Japan, 10/19/03. https://doi.org/10.1109/MHS.2003.1249944

Kikuuwe R, Yoshikawa T. Recognizing object surface properties using impedance perception. In MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc. 2003. p. 251-258. 1249944. (MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science). https://doi.org/10.1109/MHS.2003.1249944

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