Visualization and Analysis of "Pseudo-Contact Point" Loci for Determination of a Sensing Parameter

The "pseudo contact point" monitoring method, which we have developed, is a powerful tool to monitor contact state transitions in a task. In this paper we show a method how to determine evaluation functions and parameters for monitoring state transitions in a task. This method enables us d...

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Bibliographic Details
Main Authors: Onda, H., Woo-Keun Yoon, Kitagaki, K., Suehiro, T.
Format: Conference Proceeding
Language:English
Subjects:
Condition monitoring
Equations
Force sensors
Humans
Intelligent systems
Programming profession
Robot sensing systems
Tensile stress
Torque
Visualization
Online Access:Request full text
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Description
Summary:The "pseudo contact point" monitoring method, which we have developed, is a powerful tool to monitor contact state transitions in a task. In this paper we show a method how to determine evaluation functions and parameters for monitoring state transitions in a task. This method enables us develop evaluation functions for detecting contact state transitions in a task when monitoring contact state transitions in the task executed by a robot. The evaluation function is defined by using "stationary pseudo contact points (SPCP)". Our system divides data of force/torque sensor and searches for SPCPs automatically. This method can be applied to analysis of force/torque data from human execution using tele-operation system. Though insight of a human operator played an important role in the segmentation of the task, this method helps us to segment the data objectively using SPCPs
ISSN:1553-572X
DOI:10.1109/IECON.2006.347899