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