著者
Kyo Kutsuzawa Sho Sakaino Toshiaki Tsuji
出版者
The Institute of Electrical Engineers of Japan
雑誌
IEEJ Journal of Industry Applications (ISSN:21871094)
巻号頁・発行日
vol.9, no.5, pp.505-514, 2020-09-01 (Released:2020-09-01)
参考文献数
22

The robots used in our daily lives come in contact with the environment not only directly, but also through grasped objects and tools. In such cases, the shape of the grasped objects could be unknown or uncertain; thus, the shape must be estimated using information about the contact. However, previous studies could not estimate the shape of the grasped objects without knowledge about the contact environment. In this study, unscented particle filters were used to estimate the contact positions, contact forces, and shape of the tools, simultaneously. In addition, we verified that the proposed method can estimate these characteristics by measuring the force and torque in the robots.

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論文が公開されました! 粒子フィルタを使って,手先の力覚情報から把持している道具の形状を推定する技術です。 https://t.co/RScQXKM1D5

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