Recognizing Cylindrical Surface Using Impedance Perception

Ryo Kikuuwe, Tsuneo Yoshikawa

研究成果: 会議への寄与タイプ学会誌査読

1 被引用数 (Scopus)


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.

出版ステータス出版済み - 12月 26 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 10月 27 200310月 31 2003


その他2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityLas Vegas, NV

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用


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