インピーダンス知覚を用いた環境表面属性の認識

抄録

Using the technique of impedance perception, which we previously proposed, the stiffness matrix which constrains the motion-force relation of the robot's end-effector is estimated on-line, and the uncertainties of the estimates are evaluated. This paper proposes a method of extracting information of surface properties, including normal direction, stiffness, and friction coefficient, from the estimated stiffness matrix obtained during dynamic friction situation on an environment surface. This technique can be implemented as an encapsulated perception function, and enables qualitative recognition of the environment structure. Results of preliminary experiments are presented.