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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yamada, T. Mouri, T. Shimosaka, K. Mimura, N. Funahashi, Y. |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Aichi 466-8555, Japan (Yamada, T.; Shimosaka, K.) || Department of Biocybernetics, Niigata University, 2-8050 Ikarashi, Nishi-ku, 950-2181, Japan (Mimura, N.) || Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu, Toyota, Aichi 470-0393, Japan (Funahashi, Y.) || Department of Human and Information Systems, Gifu University, 1-1 Yanagido, 501-1193, Japan (Mouri, T.) |
| Abstract | When a grasped object is in contact with an external environment, it is required to identify contact conditions prior to performing assembly tasks. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line between the object and the environment. The contact type is assumed to be a point, soft-finger, line, or planar contact type with friction. These contact parameters are identified by active force sensing. Moreover, uncertainty of the estimated parameters is derived. This paper formulates least-squares functions including contact position, direction of contact normal, and direction of contact line. The uncertainty is derived by using an amount of each function. The effectiveness of this method is verified by using numerical examples. As a result, we obtain the novel knowledge that contact types can be distinguished by the uncertainty. |
| Starting Page | 1291 |
| Ending Page | 1297 |
| File Size | 323015 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913186 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Uncertainty Parameter estimation Robot sensing systems Force sensors Robotic assembly Humanoid robots Humans Service robots Force measurement Pollution measurement enhancement of robot skills Contact conditions uncertainty of estimated parameters active force sensing |
| Content Type | Text |
| Resource Type | Article |
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