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Vision Based Active Antenna

Research Project

Project/Area Number 08650316
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionHIROSHIMA UNIVERSITY

Principal Investigator

KANEKO Makoto  Faculty of Engineering, HIROSHIMA UNIVERSITY Professor, 工学部, 教授 (70224607)

Co-Investigator(Kenkyū-buntansha) TSUJI Toshio  Faculty of Engineering, HIROSHIMA UNIVERSITY Associate Professor, 工学部, 助教授 (90179995)
Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 1997: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1996: ¥1,800,000 (Direct Cost: ¥1,800,000)
KeywordsActive Sensing / Vision / Contact Point Sensing / 3D Sensing / Tactile Sensor / Robot / 触覚センサ
Research Abstract

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.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • Research Products

    (34 results)

All Other

All Publications (34 results)

  • [Publications] 金山, 尚樹: "ビジョンベースト人工能動触角" 計測自動制御学会論文集. 32. 1321-1328 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Mikhail Svinin: "Modeling and Analisys of Dynamic Contact Point Sensing by Flexible Beam" Proc.of IEEE Int.Conf.on Robotics and Automation. 1681-1686 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Makoto, Kaneko: "Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 2555-2560 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro, Ueno: "Theoretical and Experimental Integration on Dynamic Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 3557-3563 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki, Kanayama: "Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Intelligent Robots and Systems. 444-449 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki, Kanayama: "A New Sensing Scheme for 3D Active Antenna" Proc.of IEEE/SICE/RSJ Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. 597-602 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 日野, 裕: "人工能動触角-対象物の曲率の影響について-" 日本ロボット学会誌. 15. 68-74 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki, Kanayama: "On 3D Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 143-148 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Makoto, Kaneko: "Active Antenna for Contact Sensing" IEEE Transactions on Robotics and Automation. 14(発表予定). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro, Ueno: "Self-excited Dynamic Active Antenna" Advanced Robotics. 12(発表予定). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro, Ueno: "Dynamic Contact Sensing by Flexible Beam" IEEE/ASME Transactions on Mechatronics. 3(発表予定). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki Kanayama: "Vision Based Active Antenna (in Japanese)" Trans.on Society of Instrument and Control Engineering. Vol.32, No.9. 1321-1328 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Yutaka Hino: "Artificial Active Antenna -Object's Curvature and its Influence on Accuracy- (in Japanese)" Journal of the Robotics Society of Japan. Vol.15, No.1. 68-74 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Makoto Kaneko: "Active Antenna for Contact Sensing" IEEE Trans.on Robotics and Automation. Vol.14, No.1 (to appear). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro Ueno: "Self-excited Dynamic Active Antenna" Advanced Robotics. Vol.12, No.2 (to appear). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro Ueno: "Dynaamic Contact Sensing by Flexible Beam" IEEE/ASME Transactions on Mechatronics. Vol.3 No.2 (to appear). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 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)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Makoto Kaneko: "Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 2555-2560 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naohiro Ueno: "Theoretical and Experimental Investigation on Dynamic Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 3557-3563 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki Kanayama: "Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Intelligent Robots and Systems. 444-449 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki Kanayama: "A New Sensing Scheme for 3D Active Antenna^-" Proc.of IEEE/SICE/RSJ Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems. 597-602 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoki Kanayama: "On 3D Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 143-148 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] M.Kaneko, N.Kanayama, T.Tsuji: "Active Antenna for Contact Sensing" IEEE Transactions on Robotics and Automation. 14・1 (発表予定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] N.Ueno, M.Kaneko: "Self-excited Dynamic Active Antenna" Advanced Robotics. 12・2 (発表予定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] N.Ueno, M.Svinin, M.Kaneko: "Dynamic Contact Sensing by Flexible Beam" IEEE/ASME Transactions on Mechatronics. 3・2 (発表予定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] N.Kanayama, M.Kaneko, T.Tsuji: "On 3D Vision Based Active Antenna" Proc.of IEEE Int.Conf.on Robotics and Automation. 143-148 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] N.Ueno, M.Kaneko: "Self-excited Dynamic Active Antenna" Proc.of IEEE/RSJ Int.Conf.on Intelligent Robotics and Systems. 91-96 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 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)

    • Related Report
      1997 Annual Research Report
  • [Publications] 金山尚樹,金子真,辻敏夫: "ビジョンベースト人工能動触角" 計測自動制御学会論文集. 32. 1321-1328 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 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)

    • Related Report
      1996 Annual Research Report
  • [Publications] 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)

    • Related Report
      1996 Annual Research Report
  • [Publications] M. Kaneko, N. Kanayama, T. Tsuji: "Vision Based Active Antenna" Proc. of IEEE Int. Conf. on Robotics and Automation. 2555-2560 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] N. Kanayama, M. Kaneko, T. Tsuji: "Vision Based Active Antenna" Proc. of IEEE Int. Conf. on Intelligent Robots and Systems. 444-449 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] W. Kanayama, M. Kaneko, T. Tsuji: "A New Sensing Scheme for 3D Active Antenna" Proc. of IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems. 597-602 (1996)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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