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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PublisherIEEE Computer Society
Pages2574-2579
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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