Active estimation of friction properties with Haptic Vision

Frictional information is important for manipulating and representing real behavior of objects in a virtual space via haptic devices. In this paper we propose an active and automatic extraction method of friction properties based on Haptic Vision; we estimate the parameters of friction models such a...

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Bibliographic Details
Published in2008 10th International Conference on Control, Automation, Robotics and Vision pp. 1329 - 1332
Main Authors Yamashiro, D., Tanaka, S., Tanaka, H.T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2008
Subjects
Automatic control
Data mining
Force feedback
Force sensors
Friction
friction-model
Haptic interfaces
Haptic-Vision
LuGre-Model
Robot sensing systems
Robot vision systems
Robotics and automation
Springs
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Summary:Frictional information is important for manipulating and representing real behavior of objects in a virtual space via haptic devices. In this paper we propose an active and automatic extraction method of friction properties based on Haptic Vision; we estimate the parameters of friction models such as LuGre model, Coulomb model, Dhal model, by analyzing observed shape and force data obtained by Haptic Vision and then evaluate the performance of each friction model.
ISBN:9781424422869
1424422868
DOI:10.1109/ICARCV.2008.4795714