Recognizing object surface properties using impedance perception

Using the impedance perception algorithm, which we previously proposed, the stiffness matrix that constrains the motion-force relation of the robot's end-effector is obtained on-line. This paper describes two methods of extracting information on local properties of object surfaces from the stiffness matrix when the end-effector is slid on the surfaces. At the present time, the scope is limited to two classes of surfaces; flat and convex cylindrical surfaces. Since the proposed perception technique is designed separately from control strategies, and they can be used for both autonomous and remote controlled robots. Results of preliminary experiments are presented.