Identification of Contact Conditions from Contact Force and Moment – Experimental Verification in Effective Sensing Strategy –
Takayoshi Yamada*1, Tetsuya Mouri*1, Akira Tanaka*2,
Nobuharu Mimura*3, and Yasuyuki Funahashi*4
*1Gifu University, 1-1, Yanagido, Gifu 501-1193, Japan
*2Nagoya Institute of Technology, Gokiso-cho, Showa, Nagoya, Aiti 466-8555, Japan
*3Niigata University, 8050 Ikarashi 2-nocho, Nishi-ku, Niigata-shi, Niigata 950-2181, Japan
*4Chukyo University, Kaizu-cho, Toyota, Aichi 470-0393, Japan
This paper discusses an effective sensing strategy for identification of contact conditions by using experiments. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line. To distinguish contact type more quickly and accurately, we must raise the degree of separation of large and small eigenvalues of a covariance matrix for estimating contact moment. Firstly, several sensing strategies are investigated through experiments. The difference of these strategies is the origin and direction of movement because the contact moment, which expresses the characteristic of contact type, is generated at a contact frame. Secondly, a more effective sensing movement is suggested from experimental results. Finally, it is pointed out that these strategies are related to sensing movement by a human being.
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