1A1-H09 Identification of Contact Conditions from Contact Force and Moment : Uncertainty of Estimates of Contact Conditions

Abstract

This paper discusses uncertainty of estimates of contact conditions. The contact conditions mean contact position, contact force, and contact type between a robot and an external environment. It is important to evaluate the uncertainty, because sensing force and moment are contaminated with noise. This paper formulates least squares functions including contact position, direction of the normal, and direction of the contact line. The uncertainty is derived by using an amount of each function. The effectiveness of this method is verified by using numerical examples.