Identification and validation of a fractional order dynamic model for a piezoelectric tactile sensor

D. Cattin, R. Oboe, R. S. Dahiya, M. Valle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the identification of a piezoelectric tactile sensor which aims to give the sense of touch to humanoid robots. The sensor has been characterized in frequency domain and the low frequency behavior reveals a non-integer behavior. A simple model based on the a priori knowledge of the sensor and the observation of the frequency response has been hypothesized and a least squares method has been applied to identify the device. The impulse response has been calculated using the Mittag-Leffler function and validation in time domain has been performed. Simulation and experimental results are in good agreement showing that the identified model, despite its simplicity, is able to represent properly the tactile sensor.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages430-435
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: Mar 21 2010Mar 24 2010

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period3/21/103/24/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

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