An extraction method of environmental surface profile using planar end-effectors

Ryogo Kubo, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

It is very important for robots working in unknown environment to recognize surface profile of the environment. This paper presents an extraction method of environmental surface profile based on environmental modes. Contact condition between a planar end-effector and the environment is also determined by using active motion which is named "groping motion" of the end-effector. The extraction method utilizes discrete Fourier transform (DFT) matrices as matrices transforming into environmental modes. The proposed method can be applied to a planar end-effector whose shape is an arbitrary polygon. Moreover, a compliance controller for attitude of a planar end-effector with 3 supporting points is proposed to realize stable contact motion with unknown environment. The validity of the proposed method is shown by the experimental results.

Original languageEnglish
Pages368-373
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kubo, R., & Ohnishi, K. (2006). An extraction method of environmental surface profile using planar end-effectors. 368-373. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631686