| Abstract: | This paper proposes an algorithm for robot perception of impedance, which can be used as a fundamental technique for real‐time and qualitative perception of physical constraints imposed on the robot's end‐effector. This algorithm (1) estimates the impedance that represents the motion‐force relation of the end‐effector; (2) calculates the uncertainties of the estimates; and (3) detects discontinuous changes in the impedance. The estimated impedance can be used to recognize local dynamic properties of the environment and temporary constraint conditions imposed on the end‐effector. The detected discontinuities can be used to segment the manipulated tasks and to recognize the geometric structure of the environment. This method can be implemented in both autonomous and remote‐controlled robots because it is designed separately from control methodologies. Results of preliminary experiments are presented. © 2005 Wiley Periodicals, Inc. |
