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Segmentation and interpretation of temporal contact signals

  • Section 2 Force Control
  • Conference paper
  • First Online:
Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

The temporal structure of the force, or strain, signals from an internal force-torque sensor can be a rich source of information about robot/environment contact conditions. We present a procedure for representing and segmenting the individual signals with an auto-regressive model. This procedure produces segments of approximately constant spectrum, and is a powerful technique for detecting abrupt changes in noisy signals without prior calibration.

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References

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Author information

Authors and Affiliations

  1. MIT Artificial Intelligence Laboratory, 02139, Cambridge, MA

    Brian S. Eberman & J. Kenneth Salisbury

Authors
  1. Brian S. Eberman
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  2. J. Kenneth Salisbury
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Eberman, B.S., Salisbury, J.K. (1994). Segmentation and interpretation of temporal contact signals. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027589

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  • DOI: https://doi.org/10.1007/BFb0027589

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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