Autonomous sensing strategy for parameter identification of contact conditions by active force sensing

This paper discusses effective sensing strategy for parameter identification of contact conditions by active force sensing. The contact conditions include contact type, location and direction. To improve the speed and precision of distinction of contact type, it is necessary to raise separation degree of the large and the small eigenvalues of a covariance matrix of estimated contact moment. In this paper, we propose an autonomous sensing strategy to enhance the distinction precision of contact type in the limited number of data. Effectiveness of our method is verified through experiments.