{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390282680247791488.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1299/jsdd.5.953"}},{"identifier":{"@type":"URI","@value":"http://www.jstage.jst.go.jp/article/jsdd/5/5/5_5_953/_pdf"}},{"identifier":{"@type":"NAID","@value":"130001014200"}}],"dc:title":[{"@language":"en","@value":"Force Sensorless Impedance Control of Dual-Arm Manipulator-Hand System"}],"dc:language":"en","description":[{"type":"abstract","notation":[{"@language":"en","@value":"In this paper, we describe the manipulation of nuts and flexible objects for assembly work by incorporating force sensorless impedance control in a robot. This robot is a dual-arm manipulator, and each of its end effectors is a three-fingered robot hand. Generally, a force sensor is used for recognition of external force on the fingertips. However, such sensors are very expensive and easily damaged by inappropriate contact with the object. This motivated us to estimate the external force without using a force sensor. In this study, the external force on the robot fingertip was estimated using a disturbance observer. Then, estimated results were compared with measurement results of the force sensor to validate the former. Impedance control was designed for a three-fingered robot hand by using this estimated external force. By application of the designed impedance control to the robot hand, the robot was successfully able to grasp nuts ranging in size from 2 mm to 12 mm through an algorithm formulated in the study. In this algorithm, we incorporated a method called following control to retain the contact of the finger with the worktable while performing the grasping task. Thus, the nut grasping task could be performed at a higher success rate, despite some errors in the robot position and vision data. Furthermore, a boiled egg considered as a flexible object was successfully grasped through force sensorless impedance control. An impedance controller for the boiled egg was designed using identified model parameters of the egg, and its effectiveness was validated experimentally."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410282680247791490","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000020082515"}],"foaf:name":[{"@language":"en","@value":"LIZA Ahmad Shauri Ruhizan"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Technology, Division of Artificial Systems Science, Chiba University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410282680247791488","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000020082500"}],"foaf:name":[{"@language":"en","@value":"SAIKI Kotaro"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Technology, Division of Artificial Systems Science, Chiba University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410282680247791489","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000020082529"}],"foaf:name":[{"@language":"en","@value":"TORITANI Shunsuke"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Technology, Division of Artificial Systems Science, Chiba University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410282680247791491","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000020082536"}],"foaf:name":[{"@language":"en","@value":"NONAMI Kenzo"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Department of Mechanical Engineering, Division of Artificial Systems Science, Chiba University"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"18813046"}],"prism:publicationName":[{"@language":"en","@value":"Journal of System Design and Dynamics"},{"@language":"en","@value":"JSDD"}],"dc:publisher":[{"@language":"en","@value":"The Japan Society of Mechanical Engineers"},{"@language":"ja","@value":"一般社団法人 日本機械学会"}],"prism:publicationDate":"2011","prism:volume":"5","prism:number":"5","prism:startingPage":"953","prism:endingPage":"965"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","url":[{"@id":"http://www.jstage.jst.go.jp/article/jsdd/5/5/5_5_953/_pdf"}],"availableAt":"2011","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Dual-Arm%20Manipulator","dc:title":"Dual-Arm Manipulator"},{"@id":"https://cir.nii.ac.jp/all?q=Three-Fingered%20Robot%20Hand","dc:title":"Three-Fingered Robot Hand"},{"@id":"https://cir.nii.ac.jp/all?q=Grasping%20Task","dc:title":"Grasping Task"},{"@id":"https://cir.nii.ac.jp/all?q=Sensorless","dc:title":"Sensorless"},{"@id":"https://cir.nii.ac.jp/all?q=Impedance%20Control","dc:title":"Impedance Control"},{"@id":"https://cir.nii.ac.jp/all?q=Flexible%20Object","dc:title":"Flexible Object"}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360580232390332288","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Origami Folding by Multifingered Hands with Motion Primitives"}]},{"@id":"https://cir.nii.ac.jp/crid/1361137046253787648","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Robot Force Control"}]},{"@id":"https://cir.nii.ac.jp/crid/1362825894544758272","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Impedance Control: An Approach to Manipulation: Part I—Theory"}]},{"@id":"https://cir.nii.ac.jp/crid/1363107368364622336","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Force sensorless impedance control by disturbance observer"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204724952064","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Admittance Control Method Achieving Steady Contact"},{"@value":"安定した接触を実現するアドミッタンス制御手法"},{"@language":"ja-Kana","@value":"アンテイシタ セッショク オ ジツゲンスル アドミッタンス セイギョ シュホウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204725203072","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Force Sensorless Compliant Control Based on Reaction Force Estimation Observer in Multi-Degrees-of-Freedom Robot."},{"@value":"反作用力推定オブザーバに基づいた多自由度ロボットの力センサレスコンプライアンス制御"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204725299072","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Force Sensorless Compliance Control Using a Limitation Algorithm and Dither for Manipulators with Harmonic Drive Gears"},{"@value":"ハーモニックドライブを有するマニピュレータに対する飽和特性とディザを用いた力センサレス・コンプライアンス制御"},{"@language":"ja-Kana","@value":"ハーモニックドライブ オ ユウスル マニピュレータ ニ タイスル ホウワ トクセイ ト ディザ オ モチイタ チカラ センサレス コンプライアンス セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679702471680","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Impedance control of a direct drive manipulator without using force sensors."},{"@value":"カセンサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679703721216","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Control of Vibration Systems with Friction."},{"@language":"ja","@value":"クーロン摩擦と振動制御"}]}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:0037396229"},{"@type":"CROSSREF","@value":"10.1299/jsdd.5.953"},{"@type":"CIA","@value":"130001014200"},{"@type":"OPENAIRE","@value":"doi_dedup___::238bfc07423be943f336f3e147ebd698"},{"@type":"CROSSREF","@value":"10.34133/2021/9851834_references_DOI_6axC8tY48I1FN5YJFrUytyfBlcH"}]}