Robot perception of environment impedance

Ryo Kikuuwe; Tsuneo Yoshikawa

doi:10.1109/ROBOT.2002.1014781

Robot perception of environment impedance

Ryo Kikuuwe, Tsuneo Yoshikawa

Control Systems

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

This paper proposes a novel identification technique of constraint condition that the environment imposes on the robot's end-effector, based on position and force sensing during arbitrary manipulation. In the proposed method, the impedance that constrains the motion of the end-effector is estimated on-line; the uncertainties of the estimates are evaluated; and discontinuous changes of the impedance are detected. This method can be installed to robots as human-like perception of impedance, and can be used for monitoring human demonstration. Results of preliminary experiments are presented.

Original language	English
Pages (from-to)	1661-1666
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
DOIs	https://doi.org/10.1109/ROBOT.2002.1014781
Publication status	Published - Jan 1 2002

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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Robot perception of environment impedance

Abstract

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