Identification of Contact Conditions from Contaminated Data of Contact Moment

When a grasped object is in contact with external environment, it is required to identify contact conditions prior to performing assembly tasks. This paper discusses a method for identification of contact conditions by using an active force sensing method. This paper treats the practical case where...

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Veröffentlicht in:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2000/08/25, Vol.66(648), pp.2685-2692
Hauptverfasser:	MOURI, Tetsuya, YAMADA, Takayoshi, MIMURA, Nobuharu, FUNAHASHI, Yasuki
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Active Sensing Contact Conditions Contaminated Data Covariance Matrix Eigenvalue Multi-Fingered Hand Parameter Identification Robot Hand
Online-Zugang:	Volltext
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