@article{oai:niigata-u.repo.nii.ac.jp:00003808,
 author = {毛利, 哲也 and 山田, 貴孝 and 三村, 宣治 and 舟橋, 康行},
 issue = {648},
 journal = {日本機械学会論文集. C編, 日本機械学会論文集. C編},
 month = {Aug},
 note = {When a grasped object is in contact with external environment, it is required to identify contact conditions prior to performing assembly tasks. This paper discusses a method for identification of contact conditions by using an active force sensing method. This paper treats the practical case where sensing data are contaminated with noise. Contact types are characterized by a standard deviation of contact moments. The contact position is estimated by a least-squares method. The contact type can be judged by comparing the eigenvalues of a covariance matrix of estimated contact moment. We establish an efficient and analytical algorithm for identification of contact conditions. The algorithm can identify not only contact position and contact force, but also contact type.},
 pages = {2685--2692},
 title = {接触モーメントのノイズを考慮した接触状態の同定法},
 volume = {66},
 year = {2000}
}