Establishment of Estimation method for Large-Sized Object Inertia Parameters By Using Human-Skill-Like Manipulation

类人操作大尺寸物体惯性参数估计方法的建立

• 批准号: 13650283
• 负责人: YU Yong
• 金额: $ 2.24万
• 依托单位: Kagoshima University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650283/
• 关键词: Robotics; Graspless Manipulation; Estimation of Object Inertia Parameters; Human Skill; Tipping Operation of Object; Pushing Operation of Object; 物体慢性パラメータの推定

In many cases of manipulating an object stably and accurately by robot, it is required to known the mass and center of mass of the object. For the case when weight or shape of an object is over the grasp capacity of a robot hand, in 2001, this research proposes a technique that can estimate the mass and center of mass of a graspless unknown object, which has curved surfaces and a base plane. A line called Toward-C.M. Vector and its corresponding line, Passing-C.M. Line, which contains the center of mass, are defined. For estimating the passing-C.M. line, Tip Operation by robot finger, which tips the object slowly and repeatedly in a parallel motion with a vertical operation plane, is proposed. Using the fingertip position and force information measured from tip operations, an algorithm to estimate the passing-C.M. line are described. Then an algorithm to estimate the mass and center of mass of the object is given by estimating the intersect point of several orientation-different passing-C.M. lines. Lastly, experimental verification on the proposed approach is performed and its results are outlined.In 2002, this research proposes a method for estimating the object inertia parameters in object pushing operations by robot. On pushing operation, the information of the gravity change on an object cannot be sensed by robot since the object gravity is cancelled by its supporting surface. This research considers pushing an object with changing its acceleration, then sensing the force variations on the object, which are changing with the object acceleration, by robot fingers. With the force and position information, algorithms for estimating the mass, center of mass and inertia moment of the object are addressed. And experimental verification on the proposed approach is performed and its results are outlined.

在机器人稳定、准确地操作物体的许多情况下，都需要知道物体的质量和质心。对于物体的重量或形状超过机械手抓取能力的情况，2001年，本研究提出了一种估计无抓取未知物体的质量和质心的技术，该物体具有曲面和基平面。定义了一条称为朝向-C.M.向量的直线及其对应的直线，即包含质心的通过-C.M.直线。提出了一种机器人手指触点操作方法，即在与垂直操作平面平行的情况下，缓慢、反复地对物体进行触点操作，以确定通过的C.M.线。描述了一种利用指尖操作所测得的指尖位置和力信息来估计传球直线的算法。在此基础上，给出了一种通过估计多条不同方位通过直线的交点来估计物体质量和质心的算法。最后，对所提出的方法进行了实验验证，并给出了实验结果。2002年，本研究提出了一种机器人推物操作中物体惯性参数的估计方法。在推进操作中，由于物体的重力被物体的支撑面抵消，机器人无法感知物体上的重力变化信息。该研究考虑通过改变物体的加速度来推动物体，然后通过机器人手指感知物体上的力的变化，这些力随物体的加速度而变化。利用力和位置信息，给出了估计物体质量、质心和转动惯量的算法。并对该方法进行了实验验证，给出了实验结果。

项目成果

余 永: "ロボットの押し作業における対象物慣性パラメータの推定"日本ロボット学会創立20周年記念学術講演会予稿集. Vol.1. 1K15,1-1K15,4 (2002)

Yu, E.：“机器人推动工作中的物体惯性参数的估计”日本机器人学会20周年学术会议论文集第1. 1K15,1-1K15,4 (2002)。

Yong YU: "Estimation of Mass and Center of Mass of Unknown Cylinder-Like Object Using Passing-C.M.Lines"Proceedings of 2001 IEEE International Conference on Intelligent Robots and Systems. Vol.3. 1788-1793 (2001)

于勇：“Estimation of Mass and Center of Mass of Unknown Cylinder-Like Objects using Passing-C.M.Lines”2001年IEEE智能机器人与系统国际会议论文集。

Yu Yong, Kiyokawa Takashi and Tsujio Showzow: "Estimation of Mass and Center of Mass of Unknown Cylinder-Like Object Using Passing-C.M. Lines"Proceedings of 2001 IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 1788-1793 (2001)

Yu Yong、Kiyokawa Takashi 和 Tsujio Showzow：“Estimation of Mass and Center of Mass of Unknown Cylinder-Like Objects using Passing-C.M. Lines”2001 年 IEEE 智能机器人和系统国际会议论文集。

Yong YU: "Estimation of Mass and Center of Mass of Unknown Curved-Surface Object Using Passing-C.M.Lines"Enabling Society with Information Technology, Part III : Intelligent Robots and Auditory Interfaces(Springer Publisher). Part III. 163-173 (2001)

于勇：“使用传递 C.M.线估计未知曲面物体的质量和质量中心”使社会信息技术，第三部分：智能机器人和听觉接口（Springer 出版社）。

Yong YU: "Estimation of Mass and Center of Mass of Unknown Curved-Surface Object Using Passing-C.M.Lines"Enabling Society with Information Technology, Part III : Intelligent Robots and Auditory Interfaces (Springer Publisher). Part III. 163-173 (2001)

于勇：“使用传递 C.M.线估计未知曲面物体的质量和质量中心”使社会信息技术，第三部分：智能机器人和听觉界面（Springer 出版社）。