Robot Perception of Environment Impedance

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Robot Perception of Environment Impedance
— 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. Keywords— perception of impedance, environment property estimation, constraint condition identification
Ryo Kikuuwe, Tsuneo Yoshikawa
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Ryo Kikuuwe, Tsuneo Yoshikawa
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