Contact Sensing from Force Measurements

• Antonio Bicchi

  Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139

• J. Kenneth Salisbury

  Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139

• David L. Brock

  Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139

抄録

This article addresses contact sensing (i.e., the problem of re solving the location of a contact, the force at the interface, and the moment about the contact normals). Called "intrinsic" contact sensing for the use of internal force and torque mea surements, this method allows for practical devices that provide simple, relevant contact information in practical robotic appli cations. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. This article describes the theoretical basis for their operation and provides a framework for future device design.

収録刊行物

• The International Journal of Robotics Research

  The International Journal of Robotics Research 12 (3), 249-262, 1993-06

  SAGE Publications

キーワード

• Applied Mathematics
• Artificial Intelligence
• Electrical and Electronic Engineering
• Mechanical Engineering
• Modeling and Simulation
• Software

詳細情報

• CRID: 1360574095791946112
• NII論文ID: 30026157568
• DOI: 10.1177/027836499301200304
• ISSN: 17413176
• ISSN: 02783649
• Web Site: http://journals.sagepub.com/doi/pdf/10.1177/027836499301200304
• データソース種別:
  • Crossref
  • CiNii Articles