RESEARCHES

Smart Mechanics & Design

Professor, Robotics Laboratory
Department of System Cybernetics, Graduate School of Advanced Science and Engineering
Hiroshima University
Takeshi TAKAKI
>> Research Contents
As basic robotic technologies for rapid and flexible responses in the real world, we are studying sensor-based manipulation combined with high-speed vision and also robot mechanisms that have built-in intelligence in order to realize manipulation that differs from that of humans.

Collision Detection Method using Frequency Information

Motions of a robot finger are limited at low frequency when motors of the finger is driven practically. Then a signal of a joint sensor does not include high frequency. The high frequency can be used as profitable information. We focus on the high frequency caused by a collision and propose a collision detection method. We analyze the power spectrum of a joint angle and achieve the collision detection in the experiment.



MPEG movie (5.9 M)
Collision Detection (1 Hz)
MPEG movie (2.6 M)
Collision Detection (20 Hz)