Estimation of a Force Acting on a Flexible Wire by Using Visual Tracking and Its Application to Insertion Task.
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- Nakagaki Hirofumi
- Kyushu Electric Power Co., Inc.
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- Kitagaki Kosei
- Electrotechnical Laboratory
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- Ogasawara Tsukasa
- Electrotechnical Laboratory
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- Tsukune Hideo
- Electrotechnical Laboratory
Bibliographic Information
- Other Title
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- 画像トラッキングを用いた線状柔軟物体の先端力推定と挿入作業への適用
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 15 (3), 422-430, 1997
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702035200
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- NII Article ID
- 10007548515
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4193943
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed