1P1-I02 Identification of Contact Conditions from Contact Force and Moment : Experimental Verification on Effective Sensing Strategy

Abstract

This paper discusses effective sensing strategy for identification of contact conditions by experiments. The contact conditions mean contact position, contact force, and contact type. To improve the speed and precision of distinction of contact type, it is necessary to raise separation degree of large and small eigenvalues of a covariance matrix of estimated contact moment. Firstly, several sensing strategies are investigated by experiments. The difference of these strategies is the origin and the direction of the motion. Secondly, more effective sensing motion is suggested from the result of experiments. Finally, it is pointed out that these strategies are related to sensing motion by a human being.