柔軟な力覚センサを用いた接触動作による対象物の位置推定

抄録

We propose a method of estimating the state of an object using force information in a picking operation using a manipulator. The method is verified by a real robot system.The force information is collected by attaching a force sensor to the hand of the robot arm. The estimation is performed using a Manifold Particle Filter, which prevents the loss of particles, which is a problem of conventional methods. The object to be estimated is a semi-cylindrical object with a diameter of 60 mm.The force information was obtained from the sinking amount of the contact point which can be obtained by the force sensor.As a result, we were able to estimate the position of the object within 1.2 mm error from three times of force information.