Recognizing Cylindrical Curved Surface Using Impedance Perception

Recognizing cylindrical surface using impedance perception

In a previous paper, we proposed the impedance perception technique, by which the stiffness matrix that constrains the motion-force relation of the robot’s end-effector is estimated on-line, and the uncertainties of the estimates are evaluated. Based on this technique, this paper proposes a method of extracting information on local properties of a cylindrical curved surface, including normal di...

Recognizing surface properties using impedance perception

When the end-effector of a robot is slid on a flat surface, the stiffness matrix obtained by linear fitting of position and force contains information not only on the stiffness coefficient and on the normal direction, but also on the friction coefficient. This paper proposes a new method for extracting information on those properties from the stiffness matrix provided by the impedance perceptio...

Curved Surface Patches for Rough Terrain Perception

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances — a primary use-case for legs vs other forms of locomotion — is a largely open problem. New advancements in control and perception have enabled bipeds to walk on flat and uneven indoor environments. But tasks that require reliable contact with unstructured world surfaces, for example walking on nat...

Mitigation of impact vibrations using impedance mismatch in cylindrical structures

Cylindrical Surface

In this paper we present a method to localize a cylindral surface with only one perspective view. Based on a priori knowledge we nd two axes in the image in order to obtain the three rotation angles between the cylindrical surface coordinate system and the camera coordinate system. Various applications of the proposed method are presented.