Identification of Contact Conditions by Active Force Sensing

2009 ◽  
pp. 275-305 ◽  
Author(s):  
Takayoshi Yamada ◽  
Tetsuya Mouri ◽  
Nobuharu Mimura ◽  
Yasuyuki Funahashi ◽  
Hidehiko Yamamoto
Keyword(s):  
Force Sensing ◽  
Active Force ◽  
Contact Conditions

1P1-F15 Identification of Contact Conditions by Active Force Sensing : On the case with the given shape and configuration of a grasped object

2010 ◽  
Vol 2010 (0) ◽  
pp. _1P1-F15_1-_1P1-F15_4
Author(s):  
Takayoshi YAMADA ◽  
Akira TANAKA ◽  
Manabu YAMADA ◽  
Yasuyuki FUNAHASHI ◽  
Hidehiko YAMAMOTO
Keyword(s):  
Force Sensing ◽  
Active Force ◽  
Contact Conditions ◽  
The Given

259 Identification of Contact Conditions by Active Force Sensing : Evaluation of Uncertainty of the Estimates by Experiments

2009 ◽  
Vol 2009.58 (0) ◽  
pp. 125-126
Author(s):  
Takayoshi YAMADA ◽  
Akira TANAKA ◽  
Tetsuya MOURI ◽  
Manabu YAMADA ◽  
Yasuyuki FUNAHASHI ◽  
...  
Keyword(s):  
Force Sensing ◽  
Active Force ◽  
Contact Conditions

Identification of Contact Conditions by Active Force Sensing - Estimated Parameter Uncertainty and Experimental Verification -

2011 ◽  
Vol 23 (1) ◽  
pp. 44-52 ◽  
Author(s):  
Takayoshi Yamada ◽  
◽  
Akira Tanaka ◽  
Manabu Yamada ◽  
Yasuyuki Funahashi ◽  
...  
Keyword(s):  
Experimental Verification ◽  
Parameter Uncertainty ◽  
Performance Index ◽  
Force Sensing ◽  
Active Force ◽  
Task Execution ◽  
Contact Conditions ◽  
Assembly Tasks ◽  
Planar Contact ◽  
Soft Finger

Accomplishing assembly tasks using robots requires that contact conditions between grasped objects and environments be identified and controlled during task execution. We propose estimated parameter uncertainty of contact location and direction, discussing four contact types – point, soft-finger, line, and planar contact. We formulate a least-squares function (i.e., performance index) including contact location and direction. The uncertainty of estimates is derived using the rest error of minimized index. The effectiveness of our proposed method is demonstrated through experiments.

Experimental verification of estimated parameters of contact conditions by active force sensing

2009 ◽  
Author(s):  
Takayoshi Yamada ◽  
Akira Tanaka ◽  
Tetsuya Mouri ◽  
Manabu Yamada ◽  
Yasuyuki Funahashi ◽  
...  
Keyword(s):  
Experimental Verification ◽  
Force Sensing ◽  
Active Force ◽  
Contact Conditions ◽  
Estimated Parameters
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