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ID 14203
本文ファイル
著者
Kaneko, Makoto
Kanayama, Naoki
キーワード
Contact force
contact point
stiffenss sensing
tactile sensor
NDC
技術・工学
抄録(英)
This paper proposes a new vision-based active sensing system, termed vision-based active antenna. This is composed of a camera, a flexible beam whose force-deformation characteristic is known, and an actuator for rotating the beam. The camera observes the beam deformation, including the contact information, while the beam is in contact with an object. By solving a set of equations based on the information acquired through the camera, the sensor can detect the contact location, the contact force, and the stiffness of the object, even though the contact point is hidden by occlusion. For two particular versions, we show some experimental results to verify the basic idea.
掲載誌名
IEEE-ASME Transactions on Mechatronics
6巻
1号
開始ページ
7
終了ページ
16
出版年月日
2001
出版者
IEEE
ISSN
1083-4435
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) 2001 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(IsVersionOf)
http://dx.doi.org/10.1109/3516.914386
部局名
工学研究科