The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack visual and tactile sensors, so practically available lever operation and cylinder pressure sensors are adopted. The grasp motion is modeled by using sequential transitions of the on-off state of the control signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion effectively identifies a grasp or non-grasp with high accuracy, independently of operators and environments.
|出版ステータス||Published - 2013|
|イベント||2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan|
継続期間: 2013 9月 14 → 2013 9月 17
|Conference||2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013|
|Period||13/9/14 → 13/9/17|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用