Contact Motion in Unknown Environment

Mitsuharu Morisawa, Toshiaki Tsuji, Yoshio Nishioka, Ken Akuzawa, Hiromasa Takahashi, Kouhei Ohnishi

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

15 Citations (Scopus)

Abstract

This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages992-996
Number of pages5
Volume1
DOIs
Publication statusPublished - 2003
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CountryUnited States
CityRoanoke, VA
Period03/11/203/11/6

Fingerprint

Hadamard matrices
Acceleration control
Motion control
Kinematics
Robots
Controllers
Computer simulation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Morisawa, M., Tsuji, T., Nishioka, Y., Akuzawa, K., Takahashi, H., & Ohnishi, K. (2003). Contact Motion in Unknown Environment. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 992-996) https://doi.org/10.1109/IECON.2003.1280116

Contact Motion in Unknown Environment. / Morisawa, Mitsuharu; Tsuji, Toshiaki; Nishioka, Yoshio; Akuzawa, Ken; Takahashi, Hiromasa; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 1 2003. p. 992-996.

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

Morisawa, M, Tsuji, T, Nishioka, Y, Akuzawa, K, Takahashi, H & Ohnishi, K 2003, Contact Motion in Unknown Environment. in IECON Proceedings (Industrial Electronics Conference). vol. 1, pp. 992-996, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States, 03/11/2. https://doi.org/10.1109/IECON.2003.1280116
Morisawa M, Tsuji T, Nishioka Y, Akuzawa K, Takahashi H, Ohnishi K. Contact Motion in Unknown Environment. In IECON Proceedings (Industrial Electronics Conference). Vol. 1. 2003. p. 992-996 https://doi.org/10.1109/IECON.2003.1280116
Morisawa, Mitsuharu ; Tsuji, Toshiaki ; Nishioka, Yoshio ; Akuzawa, Ken ; Takahashi, Hiromasa ; Ohnishi, Kouhei. / Contact Motion in Unknown Environment. IECON Proceedings (Industrial Electronics Conference). Vol. 1 2003. pp. 992-996
@inproceedings{e0a53a68b3484ce2a427346016aa392f,
title = "Contact Motion in Unknown Environment",
abstract = "This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.",
author = "Mitsuharu Morisawa and Toshiaki Tsuji and Yoshio Nishioka and Ken Akuzawa and Hiromasa Takahashi and Kouhei Ohnishi",
year = "2003",
doi = "10.1109/IECON.2003.1280116",
language = "English",
volume = "1",
pages = "992--996",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - Contact Motion in Unknown Environment

AU - Morisawa, Mitsuharu

AU - Tsuji, Toshiaki

AU - Nishioka, Yoshio

AU - Akuzawa, Ken

AU - Takahashi, Hiromasa

AU - Ohnishi, Kouhei

PY - 2003

Y1 - 2003

N2 - This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.

AB - This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.

UR - http://www.scopus.com/inward/record.url?scp=1442304713&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=1442304713&partnerID=8YFLogxK

U2 - 10.1109/IECON.2003.1280116

DO - 10.1109/IECON.2003.1280116

M3 - Conference contribution

AN - SCOPUS:1442304713

VL - 1

SP - 992

EP - 996

BT - IECON Proceedings (Industrial Electronics Conference)

ER -