力のアクティブセンシングに基づく道具の形状推定

抄録

When robots perform tool manipulation, information of the shape is often necessary. This paper proposes a method of estimating the shape of the contact area of a grasped tool by using a force/torque sensor when the tool contacts with external environment as the planar contact. In this method, the pressure central point is moved by active force sensing, and the shape of the contact plane is estimated from the change of the central pressure point. Moreover, the positions of corners of the contact shape can be extracted from the trajectory by using the velocity of the central pressure point. As results of verification by simulation, it was confirmed that the approximate shape of the contact plane can be estimated by this method.