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Active antenna for contact sensing

https://hiroshima.repo.nii.ac.jp/records/2007014
https://hiroshima.repo.nii.ac.jp/records/2007014
561b39bd-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 IEEE_TRA_14_2_278-291_1998.pdf (2.1 MB)
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

en Kaneko, Makoto

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Kanayama, Naoki

× Kanayama, Naoki

en Kanayama, Naoki

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Tsuji, Toshio

× Tsuji, Toshio

en 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
旧ID 14185
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