Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control

Sho Sakaino; Tomoya Sato; Ryogo Kubo; Kouhei Ohnishi

doi:10.1109/IECON.2008.4758362

Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control

Sho Sakaino, Tomoya Sato, Ryogo Kubo, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, real-time environmental recognition method is proposed. With this method, location of the contact points are described in three dimensions and directions of the forces are also described in three dimensions. At first, modes of the contact points are divided into two modes; "force mode" and "moment mode". After that, "external mode" and "internal mode" are extracted from each modes by DFT matrix. Finally, environmental modes are achieved from external mode. In this way, hierarchy of the modes is given. This hierarchy is essential for the three dimensional extraction. After the extraction, each of the matrices is normalized to assure the continuity of the transformation. The validity of the proposed method is confirmed by a experiment.

Original language	English
Title of host publication	Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Publisher	IEEE Computer Society
Pages	2574-2579
Number of pages	6
ISBN (Print)	9781424417667
DOIs	https://doi.org/10.1109/IECON.2008.4758362
Publication status	Published - 2008 Jan 1

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2008.4758362

Cite this

Sakaino, S., Sato, T., Kubo, R., & Ohnishi, K. (2008). Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2574-2579). [4758362] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758362

Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. / Sakaino, Sho; Sato, Tomoya; Kubo, Ryogo et al.
Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society, 2008. p. 2574-2579 4758362 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakaino, S, Sato, T, Kubo, R & Ohnishi, K 2008, Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758362, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 2574-2579. https://doi.org/10.1109/IECON.2008.4758362

Sakaino S, Sato T, Kubo R, Ohnishi K. Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society. 2008. p. 2574-2579. 4758362. (IECON Proceedings (Industrial Electronics Conference)). doi: 10.1109/IECON.2008.4758362

Sakaino, Sho ; Sato, Tomoya ; Kubo, Ryogo et al. / Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society, 2008. pp. 2574-2579 (IECON Proceedings (Industrial Electronics Conference)).

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AB - In this paper, real-time environmental recognition method is proposed. With this method, location of the contact points are described in three dimensions and directions of the forces are also described in three dimensions. At first, modes of the contact points are divided into two modes; "force mode" and "moment mode". After that, "external mode" and "internal mode" are extracted from each modes by DFT matrix. Finally, environmental modes are achieved from external mode. In this way, hierarchy of the modes is given. This hierarchy is essential for the three dimensional extraction. After the extraction, each of the matrices is normalized to assure the continuity of the transformation. The validity of the proposed method is confirmed by a experiment.

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Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control

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