Robot perception of impedance

Ryo Kikuuwe, Tsuneo Yoshikawa

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper proposes an algorithm for robot perception of impedance, which can be used as a fundamental technique for real-time and qualitative perception of physical constraints imposed on the robot's end-effector. This algorithm (1) estimates the impedance that represents the motion-force relation of the end-effector; (2) calculates the uncertainties of the estimates; and (3) detects discontinuous changes in the impedance. The estimated impedance can be used to recognize local dynamic properties of the environment and temporary constraint conditions imposed on the end-effector. The detected discontinuities can be used to segment the manipulated tasks and to recognize the geometric structure of the environment. This method can be implemented in both autonomous and remote-controlled robots because it is designed separately from control methodologies. Results of preliminary experiments are presented.

Original languageEnglish
Pages (from-to)231-247
Number of pages17
JournalJournal of Robotic Systems
Volume22
Issue number5
DOIs
Publication statusPublished - May 1 2005

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End effectors
Robots
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Robot perception of impedance. / Kikuuwe, Ryo; Yoshikawa, Tsuneo.

In: Journal of Robotic Systems, Vol. 22, No. 5, 01.05.2005, p. 231-247.

Research output: Contribution to journalArticle

Kikuuwe, R & Yoshikawa, T 2005, 'Robot perception of impedance', Journal of Robotic Systems, vol. 22, no. 5, pp. 231-247. https://doi.org/10.1002/rob.20062
Kikuuwe, Ryo ; Yoshikawa, Tsuneo. / Robot perception of impedance. In: Journal of Robotic Systems. 2005 ; Vol. 22, No. 5. pp. 231-247.
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