Abstract
This paper proposes a recognition method of contact condition based on the concept of modal motion stiffness in bilateral control system. The acceleration control-based bilateral control method with modal decomposition can divide complicated human motion into the independent motion elements. Since it can transmit vivid force sensation from the real environment, precise environmental information can be abstracted as well. This paper presents a novel concept of modal motion stiffness. The modal motion stiffness expresses stiffness in each independent motion element which is called as a mode. Then, the identification of contact constraint can be realized from the proposed modal motion stiffness. The experimental results are shown in this paper in order to confirm the validity of the proposed method.
Original language | English |
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Pages | 3112-3117 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 2009 Dec 1 |
Event | 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5 |
Other
Other | 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 |
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Country | Portugal |
City | Porto |
Period | 09/11/3 → 09/11/5 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering