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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
ページ2574-2579
ページ数6
ISBN(印刷版)9781424417667
DOI
出版ステータスPublished - 2008 1 1

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

フィンガープリント 「Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル