Recognizing surface properties using impedance perception

Ryo Kikuuwe, Tsuneo Yoshikawa

Research output: Contribution to journalConference articlepeer-review

15 Citations (Scopus)


When the end-effector of a robot is slid on a flat surface, the stiffness matrix obtained by linear fitting of position and force contains information not only on the stiffness coefficient and on the normal direction, but also on the friction coefficient. This paper proposes a new method for extracting information on those properties from the stiffness matrix provided by the impedance perception, which the authors previously proposed. The proposed method can be easily implemented as an encapsulated module for perception, which is separated from any control and planning methodologies. Therefore, this can be used for both autonomous and remote controlled robots, and even for monitoring a manipulation tasks performed by humans. Results of preliminary experiments are presented.

Original languageEnglish
Pages (from-to)1539-1544
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sept 14 2003Sept 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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