抄録
This paper describes an algorithm for robot perception of impedance, by which motion-force relation of the robot's end-effector during arbitrary motion is analyzed on-line. Using this method, the impedance that constrains the robot's motion is estimated; the uncertainties of the estimates are evaluated; and discontinuous changes of the impedance are detected. The estimated impedance can be used to identify local dynamic properties of the environment and temporary constraint condition imposed on the robot. The detected discontinuities can be used for segmentation of manipulated tasks and recognition of geometric structure of the environment. Because of its independency from any control methodologies, this method is multipurpose and applicable for both autonomous and remote-controlled robots. Results of preliminary experiments are presented.
