抄録
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.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | International Workshop on Advanced Motion Control, AMC |
| ページ | 368-373 |
| ページ数 | 6 |
| 巻 | 2006 |
| DOI | |
| 出版物ステータス | Published - 2006 |
| イベント | 9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey 継続期間: 2006 3 27 → 2006 3 29 |
Other
| Other | 9th IEEE International Workshop on Advanced Motion Control, 2006 |
|---|---|
| 国 | Turkey |
| 市 | Istanbul |
| 期間 | 06/3/27 → 06/3/29 |
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ASJC Scopus subject areas
- Engineering(all)
これを引用
An extraction method of environmental surface profile using planar end-effectors. / Kubo, Ryogo; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. 巻 2006 2006. p. 368-373 1631686.研究成果: Conference contribution
}
TY - GEN
T1 - An extraction method of environmental surface profile using planar end-effectors
AU - Kubo, Ryogo
AU - Ohnishi, Kouhei
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33751057730&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33751057730&partnerID=8YFLogxK
U2 - 10.1109/AMC.2006.1631686
DO - 10.1109/AMC.2006.1631686
M3 - Conference contribution
AN - SCOPUS:33751057730
VL - 2006
SP - 368
EP - 373
BT - International Workshop on Advanced Motion Control, AMC
ER -