Contact state estimation for robot hands with a plurality of fingers with the use of particles - filtering

摘要

A method for estimating a contact state between a robot hand and any of the robot hand object contacted with the use of a particles - filtering - art,the method being a motion model and a measurement model includes,the measurement model is provided for the relationship between measurements and to describe the contact state, wherein the measurements a contact position, - speed and - force and the contact state of a hand - object - position, a hand - object - orientation or an object shape comprises;the motion model characterizes the movement of the robot hand, while they are moved relative to the object; andthe measurement model in connection with the movement model is used, the probability of the given contact states in order to estimate.