Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control

Sho Sakaino; Tomoya Sato; Ryogo Kubo; Kouhei Ohnishi

doi:10.1109/IECON.2008.4758362

Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control

Sho Sakaino, Tomoya Sato, Ryogo Kubo, Kouhei Ohnishi

システムデザイン工学科

研究成果: Conference contribution

抄録

In this paper, real-time environmental recognition method is proposed. With this method, location of the contact points are described in three dimensions and directions of the forces are also described in three dimensions. At first, modes of the contact points are divided into two modes; "force mode" and "moment mode". After that, "external mode" and "internal mode" are extracted from each modes by DFT matrix. Finally, environmental modes are achieved from external mode. In this way, hierarchy of the modes is given. This hierarchy is essential for the three dimensional extraction. After the extraction, each of the matrices is normalized to assure the continuity of the transformation. The validity of the proposed method is confirmed by a experiment.

本文言語	English
ホスト出版物のタイトル	Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社	IEEE Computer Society
ページ	2574-2579
ページ数	6
ISBN（印刷版）	9781424417667
DOI	https://doi.org/10.1109/IECON.2008.4758362
出版ステータス	Published - 2008 1月 1

出版物シリーズ

名前	IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

電子工学および電気工学

文献へのアクセス

10.1109/IECON.2008.4758362

他のファイルとリンク

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引用スタイル

Sakaino, S., Sato, T., Kubo, R., & Ohnishi, K. (2008). Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2574-2579). Article 4758362 (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758362

Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. / Sakaino, Sho; Sato, Tomoya; Kubo, Ryogo その他.
Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society, 2008. p. 2574-2579 4758362 (IECON Proceedings (Industrial Electronics Conference)).

研究成果: Conference contribution

Sakaino, S, Sato, T, Kubo, R & Ohnishi, K 2008, Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758362, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 2574-2579. https://doi.org/10.1109/IECON.2008.4758362

Sakaino S, Sato T, Kubo R, Ohnishi K. Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society. 2008. p. 2574-2579. 4758362. (IECON Proceedings (Industrial Electronics Conference)). doi: 10.1109/IECON.2008.4758362

Sakaino, Sho ; Sato, Tomoya ; Kubo, Ryogo その他. / Real-time environmental mode extraction of contact points described in 3 dimensional location and direction using quaternion for bilateral control. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society, 2008. pp. 2574-2579 (IECON Proceedings (Industrial Electronics Conference)).

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