書誌事項
- タイトル別名
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- Recognition of Contact Event Based on MFCC of Force Signals
抄録
<p>Recognition of contact events is often required for contact-based tasks such as assembly and grinding. This paper proposes a recognition method based on the Mel Frequency Cepstrum Coefficient (MFCC) of force signals, which can be derived from an ordinary robot configuration with a force sensor and a manipulator. We demonstrated that the combination of MFCC and time delayed neural network is effective in the case of the contact event recognition. It was confirmed that the above method has the ability to recognize instantaneous responses that do not generate repetitive waveforms. </p>
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 39 (2), 173-176, 2021
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
- 1390850404932609536
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- NII論文ID
- 130008002390
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- ISSN
- 18847145
- 02891824
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可