English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

With a proper combination of compliant joint and position- controlled joint, a link system changes its posture with keeping contact between link system and environment. This is so-called Self-Posture Changing Motion (SPCM) and conveniently used to detect a contact point between robot and unknown object. In conventional approach, a contact point has been computed as an intersecting point between two different link postures before and after SPCM. In general, this computation scheme gives us a contact point with unsatisfactory approximation, while it furnishes us with an exact contact point for a sharp-edged object. In this paper, we first introduces a concept of degree-of-approximation, which is defined as the distance between a computed point and the nearest point over the object surface, and then propers the Neighboring Degree-Of Approximation Equating Method which improves the degree-of-approximation drastically and provides exact contact points not only for a sharp· edged object but also for a constant curved object. Mathematical framework is provided for the proposed computation scheme. Finally, the effectiveness of the proposed scheme is verified by simulations.

Neighboring Degree-of-Approximation Equating Method for Computing Contact Points between Robot and Convex Object