Novel technique of contact force vector determination aimed at control of service robot arm and estimation of environment stiffness

Dzmitry Tsetserukou, Naoki Kawakami, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In this paper, we focus on the approach to calculation of the applied force vector at any point of the robot arm and its technical realization. The experimental results validate the ability of the proposed method to trace the contact point position and to estimate force vector accurately. The technique of calculation of contacting object stiffness during collision is elaborated and experimentally examined. The algorithm of contact transition control considering the environment stiffness value and its application for tactile interaction with surroundings are discussed.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages2771-2776
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 20 Aug 200822 Aug 2008

Publication series

NameProceedings of the SICE Annual Conference

Conference

ConferenceSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Country/TerritoryJapan
CityTokyo
Period20/08/0822/08/08

Keywords

  • Contact transition control
  • Robot-environment interaction
  • Sensitive robot arm

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