書誌事項
- タイトル別名
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- Estimation of a Force Acting on a Flexible Wire by Using Visual Tracking and Its Application to Insertion Task.
- ガゾウ トラッキング オ モチイタ センジョウ ジュウナン ブッタイ ノ セン
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説明
Measuring the force acting on a flexible wire by using a force/torque sensor is difficult when the flexural rigidity of the wire is small, because the wire buckles and the force acting on the wire is smaller than the force that can be measured by the force/torque sensor. This paper shows a method of estimating the force acting on a wire from its shape observed by stereo vision. The force is obtained continuously by using visual tracking. Consequently, we propose a strategy of inserting the wire into a hole on a wall by using the estimated force. Three experiments have been successfully carried out.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 15 (3), 422-430, 1997
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702035200
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- NII論文ID
- 10007548515
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4193943
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可