tailieunhanh - Robotics 2010 Current and future challenges Part 5

Tham khảo tài liệu 'robotics 2010 current and future challenges part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 130 Robotics 2010 Current and Future Challenges values between the kurtosis and reference patterns provided beforehand are calculated. Averages and standard deviations of the evaluated values are shown in Table 2 which shows that the lower the evaluated value the greater is the similarity between that the kurtosis pattern and the reference pattern. For different objects the evaluated value averages as well as the standard deviations are high. The cause of these high averages is that the kurtosis patterns are not similar to the reference patterns. On the other hand for the same object averages and standard deviations are small because the kurtosis patterns are similar to reference patterns. If threshold is the classification results are shown in Table 3. The classification accuracy for the hexagonal and octagonal prisms is 90 and that for the cylinder is 95 . These classification results are very high confirming the effectiveness of the proposed classification. Time step Fig. 7. Kurtosis vs. Time Step reference hexagon octagon cylinder hexagon AVE SD octagon AVE SD cylinder AVE SD Prism shape Table 2. Averages and Standard Deviations of Evaluated Value Hexagon octagon cylinder Classification Accuracy 90 90 95 Table 3. Classification Accuracy Prism shape Shape Classification using Tactile Information in Rotation Manipulation by Universal Robot Hand 131 Experiments using Five Different Velocities The rotational velocity was changed by times and double original speed giving and rad s respectively. The objects shown in Fig. 6 were used. Universal Robot Hand rotated the cylinder by rad the hexagonal and octagonal prisms from edge to face. The relationship between kurtosis and time step of the hexagonal prism is shown in Fig. 8. Corresponding to rotational velocities time-series .