DocumentCode
1774156
Title
Contact state recognition based on haptic signal processing for robotic tool use
Author
Matsuzaki, R. ; Okuma, Jun ; Sakaino, Sho ; Tsuji, Takao
Author_Institution
Dept. of Electr. & Electron. Syst., Saitama Univ., Saitama, Japan
fYear
2014
fDate
18-21 May 2014
Firstpage
1978
Lastpage
1983
Abstract
Robotic tool use is a challenging issue, which can be a key for extending the ability of robots in human environment. This study deals with a technique for contact state recognition of robotic tool use. A contact model and a method to calculate the parameters of the model from the haptic information are proposed. Some kinetic information is estimated from the model parameters and utilized for the tool use.
Keywords
force control; haptic interfaces; human-robot interaction; manipulators; position control; contact model; contact state recognition; force control; haptic information; haptic signal processing; human environment; kinetic information estimation; model parameters; position control; robot ability; robot arm; robotic tool use; Iron; Robots; force sensing; haptics; robotic tool use;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE-ASIA), 2014 International
Conference_Location
Hiroshima
Type
conf
DOI
10.1109/IPEC.2014.6869859
Filename
6869859
Link To Document