Art

J-GLOBAL ID：200902280759527539   Reference number：07A0419685

Soft Pushing Operation with Dual Compliance Controllers Based on Estimated Torque and Visual Force

推定されたトルクや視覚力に基づく二重コンプライアンス制御器による柔らかい押し運び作業

Author (2)： MUIS Abdul (Keio Univ., Yokohama) ,  OHNISHI Kouhei (Keio Univ., Yokohama)
Material： 電気学会論文誌 D  (IEEJ Transactions on Industry Applications)
Volume： 127  Issue： 5  Page： 518-527  Publication year： May. 01, 2007 
JST Material Number： X0451A  ISSN： 0913-6339  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： control equipment ,...
Semi thesaurus term： *コンプライアンス制御器 ,...

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JST classification (1)： Motion and control of robots  (IC04012J)

Reference (9)：

• KATSURA, S. Pushing operation by flexible manipulator taking environmental information into account. Proc. IEEE-AMC (Advanced Motion Control), 2004. 2004, 141-146
• MURAKAMI, T. Force Sensorless Compliance Control based on Reaction Force Estimation Observer in Multi-Degree-of-Freedom Robot. Journal of RSJ. 1993, 11, 5, 756-768
• VERMA, A. Robot box-pushing with environment-embedded sensors. Proc. IEEE Symposium on Computational Intelligent in Robotics and Automation, 2001. 2001, 212-217
• HONGBIN, Z. Coordination of visual and tactile sensors for pushing operation using multiple autonomous arms. Proc. IEEE-Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, 1996. 1996, 581-588
• YU, Y. Estimation of Object Inertia Parameterson Robot Pushing Operation. Proc. IEEE-ICRA (Int. Conf. on Robotics and Automation), 2005. 2005, 1657-1662

Terms in the title (4)： 推定 ,  トルク ,  視覚 ,  コンプライアンス制御