G1500-3-2 力覚情報を用いたロボットの接触状態同定 : 効果的な接触状態判別方法の検討(ロボティクス・メカトロニクス部門一般講演(3):ヒューマノイドロボット,社会変革を技術で廻す機械工学)

抄録

When a grasped object makes contact with external environment, it is necessary to identify a contact conditions. This paper presents an effective method for identification of contact conditions. The contact conditions mean contact position, contact force, and contact type. The conventional method needs a great many random measurement data to identify a contact condition. We suggest a method to identify a contact conditions with few data with the correlation. Furthermore, we inspect the effectiveness of this method by an experiment.