Recognizing object surface properties using impedance perception

Ryo Kikuuwe, Tsuneo Yoshikawa

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルMHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
出版社Institute of Electrical and Electronics Engineers Inc.
ページ251-258
ページ数8
ISBN(電子版)0780381653, 9780780381650
DOI
出版ステータス出版済み - 1 1 2003
イベントInternational Symposium on Micromechatronics and Human Science, MHS 2003 - Nagoya, 日本
継続期間: 10 19 200310 22 2003

出版物シリーズ

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

その他

その他International Symposium on Micromechatronics and Human Science, MHS 2003
Country日本
CityNagoya
Period10/19/0310/22/03

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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