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ID 14185
本文ファイル
著者
Kaneko, Makoto
Kanayama, Naoki
キーワード
Active antenna
contact point sensing
tactile sensing
NDC
機械工学
抄録(英)
This paper proposes a new active sensor system (active antenna) that can detect not only the contact location between an insensitive flexible beam and an environment but also the information of the environment's surface where the beam makes contact. The active antenna is simply composed of a flexible beam, actuators to move the beam, position sensors to measure the rotational angle of the beam, and a moment sensor. We first show that the contact distance under no lateral slip is proportional to the rotational compliance that the beam can sense at the rotational center. The lateral slip, which possibly occurs according to the pushing direction and the environment's geometry, overestimates the rotational compliance, and as a result, brings a large sensing error for the localizing contact point. The goal of this paper is to find the contact location under such conditions. We explore how to detect a lateral slip and how to determine the new pushing direction to avoid it. We show an algorithm that can search for the pushing direction which can avoid any lateral slip. The convergence of this algorithm is shown and a practical utilization of this algorithm is also discussed with a trade-off between the number of trials and the sensing accuracy.
掲載誌名
IEEE Transactions on Robotics and Automation
14巻
2号
開始ページ
278
終了ページ
291
出版年月日
1998
出版者
IEEE
ISSN
1042-296X
NCID
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (c) 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
関連情報URL
部局名
工学研究科