DocumentCode
2914904
Title
Active estimation of friction properties with Haptic Vision
Author
Yamashiro, Dai ; Tanaka, Shiro ; Tanaka, Hiromi T.
Author_Institution
Dept. of Comput. Sci., Ritsumeikan Univ., Kusatsu
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
1329
Lastpage
1332
Abstract
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.
Keywords
computer vision; friction; mechanical engineering computing; active estimation; active extraction method; automatic extraction method; haptic devices; haptic vision; virtual space; Automatic control; Data mining; Force feedback; Force sensors; Friction; Haptic interfaces; Robot sensing systems; Robot vision systems; Robotics and automation; Springs; Haptic-Vision; LuGre-Model; friction; friction-model;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location
Hanoi
Print_ISBN
978-1-4244-2286-9
Electronic_ISBN
978-1-4244-2287-6
Type
conf
DOI
10.1109/ICARCV.2008.4795714
Filename
4795714
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