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Intelligent Systems for Knowledge Management pp 275–305Cite as

Identification of Contact Conditions by Active Force Sensing

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 252))

Abstract

When a grasped object is in contact with an external environment, it is required to identify contact conditions prior to performing assembly tasks. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line between a grasped object and its environment. This article distinguishes soft-finger, line, and planar contact types in addition to point contact type. It is assured that these four contact types are distinguishable when the number of active force sensing samples is at least 6. Efficient algorithms for parameter identification and transition detection of contact conditions are explained. Effectiveness of our proposed method is verified through numerical examples.

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Author information

Authors and Affiliations

  1. Dept. of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1, Yanagido, Gifu, 501-1193, Japan

    Takayoshi Yamada, Tetsuya Mouri & Hidehiko Yamamoto

  2. Dept. of Biocybernetics, Faculty of Engineering., Niigata University, 2-8050, Ikarashi, Nishi-ku, Niigata, 950-2181, Japan

    Nobuharu Mimura

  3. Dept. of System Engineering of Human Body, Faculty of Life System Science and Technology, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota, Aichi, 470-0393, Japan

    Yasuyuki Funahashi

Authors
  1. Takayoshi Yamada
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  2. Tetsuya Mouri
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  3. Nobuharu Mimura
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  4. Yasuyuki Funahashi
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  5. Hidehiko Yamamoto
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Editor information

Editors and Affiliations

  1. Institute of Informatics, Wroclaw University of Technology, Str.Wyb.Wypsianskiego 27, 50-370, Wroclaw, Poland

    Ngoc Thanh Nguyen

  2. Faculty of Management and Economics, Gdansk University of Technology, Str.Narutowicza 11/12, 80-233, Gdansk, Poland

    Edward Szczerbicki

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© 2009 Springer-Verlag Berlin Heidelberg

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Yamada, T., Mouri, T., Mimura, N., Funahashi, Y., Yamamoto, H. (2009). Identification of Contact Conditions by Active Force Sensing. In: Nguyen, N.T., Szczerbicki, E. (eds) Intelligent Systems for Knowledge Management. Studies in Computational Intelligence, vol 252. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04170-9_12

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  • DOI: https://doi.org/10.1007/978-3-642-04170-9_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-04169-3

  • Online ISBN: 978-3-642-04170-9

  • eBook Packages: EngineeringEngineering (R0)

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