可操作度評価のロバスト性向上：擬似楕円体アプローチ
Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach
関節系の可操作度評価において、推定誤差に敏感な従来の楕円体法を拡張し、ノイズに強い擬似楕円体の概念を提案・検証した論文。
著者: Erfan Shahriari, Kim Kirstin Peper, Matej Hoffmann, Sami Haddadin
分類: cs.RO
原文アブストラクト
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual ellipsoid using the system's configuration and model. Yet, this approach poses challenges when applied to systems such as the human body, where direct access to such information is limited, necessitating reliance on estimations. Any inaccuracies in these estimations can distort the ellipsoid's configuration, potentially compromising the accuracy of the manipulability assessment. To address this issue, this article extends the standard approach by introducing the concept of the manipulability pseudo-ellipsoid. Through a series of theoretical analyses, simulations, and experiments, the article demonstrates that the proposed method exhibits reduced sensitivity to noise in sensory information, consequently enhancing the robustness of the approach.
