Recognizing Environment Surface Properties Using Impedance Perception
نویسندگان
چکیده
منابع مشابه
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...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2004
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.22.239