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
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;
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
DOI :
10.1109/ICARCV.2008.4795714
