Robot perception of environment impedance

Ryo Kikuuwe, Tsuneo Yoshikawa

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


This paper proposes a novel identification technique of constraint condition that the environment imposes on the robot's end-effector, based on position and force sensing during arbitrary manipulation. In the proposed method, the impedance that constrains the motion of the end-effector is estimated on-line; the uncertainties of the estimates are evaluated; and discontinuous changes of the impedance are detected. This method can be installed to robots as human-like perception of impedance, and can be used for monitoring human demonstration. Results of preliminary experiments are presented.

Original languageEnglish
Pages (from-to)1661-1666
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2002
Externally publishedYes

All Science Journal Classification (ASJC) codes

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


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