WEKO3
アイテム
Active antenna for contact sensing
https://hiroshima.repo.nii.ac.jp/records/2007014
https://hiroshima.repo.nii.ac.jp/records/2007014561b39bd-77ea-4f0f-85a0-6d7d886580ab
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TRA_14_2_278-291_1998.pdf (2.1 MB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Active antenna for contact sensing | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Kaneko, Makoto
× Kaneko, Makoto
× Kanayama, Naoki
× Tsuji, Toshio
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Active antenna | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | contact point sensing | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | tactile sensing | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | This paper proposes a new active sensor system (active antenna) that can detect not only the contact location between an insensitive flexible beam and an environment but also the information of the environment's surface where the beam makes contact. The active antenna is simply composed of a flexible beam, actuators to move the beam, position sensors to measure the rotational angle of the beam, and a moment sensor. We first show that the contact distance under no lateral slip is proportional to the rotational compliance that the beam can sense at the rotational center. The lateral slip, which possibly occurs according to the pushing direction and the environment's geometry, overestimates the rotational compliance, and as a result, brings a large sensing error for the localizing contact point. The goal of this paper is to find the contact location under such conditions. We explore how to detect a lateral slip and how to determine the new pushing direction to avoid it. We show an algorithm that can search for the pushing direction which can avoid any lateral slip. The convergence of this algorithm is shown and a practical utilization of this algorithm is also discussed with a trade-off between the number of trials and the sensing accuracy. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | 10.1109/70.681246 | |||||||||||
| 関連情報 | ||||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/70.681246 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1042-296X | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | NCID | |||||||||||
| 収録物識別子 | AA10686140 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 278 | |||||||||||
| 書誌情報 |
IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and Automation 巻 14, 号 2, p. 278-291, 発行日 1998 |
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| 旧ID | 14185 | |||||||||||
