Object identification using knocking sound processing and reaction force from disturbance observer

Object classification has many method such as sound signal or object compression. However, sound signal comes with a high noise level. Therefore, force response of knocking object becomes a more interesting method. In this paper, the method which combination of force response and knocking sound is proposed to improve the analysis. The master-slave robot based on bilateral control system is used to knock the objects. Then the force response is estimated by disturbance observer instead of force sensor which has a limitation. The results of the experiment can show the different of each objects clearly.