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Recognizing object surface properties using impedance perception

Published online by Cambridge University Press:  27 April 2005

Ryo Kikuuwe  and
Tsuneo Yoshikawa
Ryo Kikuuwe
Affiliation:
Dept. of Mechanical Engineering, Nagoya Institute of Technology, Nagoya, 466-8555 (Japan). E-mail: kikuuwe@ieee.org
Tsuneo Yoshikawa
Affiliation:
Dept. of Mechanical Engineering, Kyoto University, Kyoto, 606-8501 (Japan). E-mail: yoshi@mech.kyoto-u.ac.jp
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Abstract

By using the impedance perception algorithm, which we previously proposed, the stiffness matrix that constrains the motion-force relation of a robot's end-effector is calculated in real-time. In this paper, we describe methods of extracting information concerning certain local properties of object surfaces from the stiffness matrix when the end-effector is slid on the surfaces. We develop two algorithms to deal with two classes of surfaces: flat and convex cylindrical surfaces. Since the proposed methods are designed separately from control strategies, they can be used for both autonomous and remote controlled robots. The results of preliminary experiments are presented.

Keywords

Impedance perceptionStiffness matrixFriction coefficientSurface normalCurvature
Type
Research Article
Information
Robotica , Volume 23 , Issue 3 , May 2005 , pp. 387 - 396
Copyright
© 2005 Cambridge University Press

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