Recognizing object surface properties using impedance perception


By using the impedance perception algorithm, which we previously proposed, the stiffness matrix that constrains the motion-force relation of a robot’s end-effector is calculated in real-time. In this paper, we describe methods of extracting information concerning certain local properties of object surfaces from the stiffness matrix when the end-effector is… (More)
DOI: 10.1017/S0263574704000918


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