Recognizing Cylindrical Surface Using Impedance Perception

Ryo Kikuuwe, Tsuneo Yoshikawa

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)


In a previous paper, we proposed the impedance perception technique, by which the stiffness matrix that constrains the motion-force relation of the robot's end-effector is estimated on-line, and the uncertainties of the estimates are evaluated. Based on this technique, this paper proposes a method of extracting information on local properties of a cylindrical curved surface, including normal direction, primary directions, curvature, and stiffness and friction coefficients, from the stiffness matrix obtained under the situation where the end-effector is slid on the surface. This technique can be implemented as an encapsulated perception function independent from control strategies, and thus it can be used for both autonomous and remote-controlled robots, and for direct monitoring of human manipulations. Results of preliminary experiments are presented.

Original languageEnglish
Number of pages6
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003


Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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