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

Ryogo Kubo, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

41 Citations (Scopus)

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages368-373
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
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

Fingerprint

End effectors
Discrete Fourier transforms
Robots
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kubo, R., & Ohnishi, K. (2006). An extraction method of environmental surface profile using planar end-effectors. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 368-373). [1631686] https://doi.org/10.1109/AMC.2006.1631686

An extraction method of environmental surface profile using planar end-effectors. / Kubo, Ryogo; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 368-373 1631686.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kubo, R & Ohnishi, K 2006, An extraction method of environmental surface profile using planar end-effectors. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631686, pp. 368-373, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631686
Kubo R, Ohnishi K. An extraction method of environmental surface profile using planar end-effectors. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 368-373. 1631686 https://doi.org/10.1109/AMC.2006.1631686
Kubo, Ryogo ; Ohnishi, Kouhei. / An extraction method of environmental surface profile using planar end-effectors. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 368-373
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