Parameter Identification of Contact Conditions by Active Force Sensing.

Contact Sensing from Force Measurements

This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals is presented. Called \intrinsic" contact sensing for the use of internal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Suc...

Identification of Contact Conditions from Contaminated Data of Contact Force and Moment

This paper discusses a method for identification of contact conditions from the information of 6-axes force sensor equipped with a robot hand. The previous paper has the following problems. (1) The noise of sensing force was not considered. (2) Hence, the estimates obtained by the previous method are biased from true value, and the identification of contact types depends on an unknown contact p...

Active antenna for contact sensing

Source: Robot whiskers used to sense features-Seals track the hydrodynamic trails of their prey w w w .d o c u-tra c k .c o m Conclusions • 3D flow patterns possible (complex config.) • Animals also use information about moment –Recordings rat trigeminal ganglion –At whisker base à could be low frequency counterpart to the whisker vibrations

Parameter Identification of an End Sealed SFD Part I: Identification of Force Coefficients and Operating Conditions Leading to Air Ingestion

Automatic estimation of regularization parameter by active constraint balancing method for 3D inversion of gravity data

Gravity data inversion is one of the important steps in the interpretation of practical gravity data. The inversion result can be obtained by minimization of the Tikhonov objective function. The determination of an optimal regularization parameter is highly important in the gravity data inversion. In this work, an attempt was made to use the active constrain balancing (ACB) method to select the...