Simultaneous Estimation of Contact Position and Tool Shape using an Unscented Particle Filter

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2020/09/01

タイトル(英語): Simultaneous Estimation of Contact Position and Tool Shape using an Unscented Particle Filter

著者名: Kyo Kutsuzawa (Graduate School of Science and Engineering, Saitama University/JSPS), Sho Sakaino (Graduate School of Systems and Information Engineering, University of Tsukuba/JST PRESTO.), Toshiaki Tsuji (Graduate School of Science and Engineering, Saita

著者名(英語): Kyo Kutsuzawa (Graduate School of Science and Engineering, Saitama University/JSPS), Sho Sakaino (Graduate School of Systems and Information Engineering, University of Tsukuba/JST PRESTO.), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

キーワード: Intrinsic contact sensing，particle filter，contact position estimation，tool shape estimation

要約(英語): 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.

本誌: IEEJ Journal of Industry Applications Vol.9 No.5 （2020）

本誌掲載ページ: 505-514 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/5/9_505/_article/-char/ja/