力覚情報のメル周波数ケプストラム係数に基づく接触動作の認識

抄録

Recognition of contact events is often required for contact-based tasks such as assembly and grinding. This paper proposes a recognition method based on the Mel Frequency Cepstrum Coefficient (MFCC) of force signals, which can be derived from an ordinary robot configuration with a force sensor and a manipulator. We demonstrated that the combination of MFCC and time delayed neural network is effective in the case of the contact event recognition. It was confirmed that the above method has the ability to recognize instantaneous responses that do not generate repetitive waveforms.