Visualization and Analysis of "Pseudo-Contact Point" Loci for Determination of a Sensing Parameter

The "pseudo contact point" monitoring method, which we have developed, is a powerful tool to monitor contact state transitions in a task. In this paper we show a method how to determine evaluation functions and parameters for monitoring state transitions in a task. This method enables us develop evaluation functions for detecting contact state transitions in a task when monitoring contact state transitions in the task executed by a robot. The evaluation function is defined by using "stationary pseudo contact points (SPCP)". Our system divides data of force/torque sensor and searches for SPCPs automatically. This method can be applied to analysis of force/torque data from human execution using tele-operation system. Though insight of a human operator played an important role in the segmentation of the task, this method helps us to segment the data objectively using SPCPs