Vision Based Active Antenna

基于视觉的有源天线

• 批准号: 08650316
• 负责人: KANEKO Makoto
• 金额: $ 1.6万
• 依托单位: HIROSHIMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650316/
• 关键词: Active Sensing; Vision; Contact Point Sensing; 3D Sensing; Tactile Sensor; Robot; 触覚センサ

This work discusses the Vision Based Active Antenna that can detect the contact force, the stiffness of the environment, and the contact location between an insensitive elastic antenna and an environment, through the observation of the antenna's shape by a camera. We show that both the contact location and the contact force can be estimated by measuring two arbitrary points on the antenna after a pushing motion, even though the exact contact point is hidden by occlusion. By considering the geometrical relationship between the virtual (with environment) and the real (with environment) displacements of the contact point, the stiffness of the environment can also be estimated. We extend this principle to 3D environment by adding to a one-axis moment sensor. By utilizing the antenna's shape mapped into the calibration plane, the vision sensor can provide both the contact distance and a force component on the plane. The moment sensor output allows us to evaluate the force comopnent normal tothe plane.This system can work even under a compliant object. We show that the coupling effect between vision and moment sensor depends on the implementation angle of the CCD camera.

这项工作讨论了基于视觉的有源天线，它可以通过相机观察天线的形状来检测接触力、环境的刚度以及不敏感的弹性天线与环境之间的接触位置。我们表明，即使确切的接触点因遮挡而隐藏，也可以通过在推动运动后测量天线上的两个任意点来估计接触位置和接触力。通过考虑接触点的虚拟（与环境）和真实（与环境）位移之间的几何关系，还可以估计环境的刚度。我们通过添加单轴力矩传感器将这一原理扩展到 3D 环境。通过利用映射到校准平面的天线形状，视觉传感器可以提供接触距离和平面上的力分量。力矩传感器输出使我们能够评估垂直于平面的力分量。该系统甚至可以在柔顺物体下工作。我们表明视觉和力矩传感器之间的耦合效应取决于 CCD 相机的实现角度。

项目成果

M.Svinin, N.Ueno, M.Kaneko: "Active and Passive Strategies in Dynamic Contact Point Sensing by a Flexible Beam" Proc.of IEEE/RSJ Int.Conf.on Intelligent Robotics and Systems. 85-90 (1997)

M.Svinin、N.Ueno、M.Kaneko：“柔性梁动态接触点传感的主动和被动策略”Proc.of IEEE/RSJ Int.Conf.on 智能机器人和系统。

N. Ueno, M. Kaneko, M. Svinin: "Theoretical and Experimental Investigation on Dynamic Active Antenna" Droc. of IEEE Int. Conf. on Robotics and Automation. 127-132 (1996)

N. Ueno、M. Kaneko、M. Svinin：“动态有源天线的理论和实验研究”Droc。

H. Suinin, N. Ueno, M. Kaneko, T. Tsuji: "Modeling and Analysis of Dynamic Contact Point Sensing by a Flexible Beam" Proc. of IEEE Int. Conf. on Robotics and Automation. 1681-1686 (1996)

H. Suinin、N. Ueno、M. Kaneko、T. Tsuji：“柔性梁动态接触点传感的建模和分析”Proc。

Mikhail Svinin: "Modeling and Analysis of Dynamic Contact Point Sensing by Flexible Beam" Proc.of IEEE Int.Conf.on Robotics and Automation. 1681-1686 (1996)

Mikhail Svinin：“柔性梁动态接触点传感的建模和分析”Proc.of IEEE Int.Conf.on Robotics and Automation。

M.Kaneko, N.Kanayama, T.Tsuji: "Active Antenna for Contact Sensing" IEEE Transactions on Robotics and Automation. 14・1 (発表予定). (1998)

M.Kaneko、N.Kanayama、T.Tsuji：“用于接触传感的有源天线”IEEE 机器人与自动化汇刊 14・1（即将发表）。