Frequency-domain force measurements for discrete event contact recognition
نویسندگان
چکیده
Discrete event recognition based on force measurements in the frequency-domain is presented. The force signals arise from interaction between the workpiece and the environment in a planar assembly task. The discrete events are modeled as Hidden Markov Models (HMMs), where the models are trained oo-line with the Baum-Welch re-estimation algorithm. After the HMMs have been trained, we use them on-line in a robotic system to recognise discrete events as they occur. Event recognition with an accuracy as high as 98% was accomplished in 0.5-0.6s with a relatively small training set.
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