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

Cattin, D., Oboe, R., Dahiya, R.S. and Valle, M. (2010) Identification and validation of a fractional order dynamic model for a piezoelectric tactile sensor. In: 2010 11th IEEE International Workshop on Advanced Motion Control, Nagaoka, Japan, 21-24 Mar 2010, pp. 430-435. (doi:10.1109/AMC.2010.5464092)

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Publisher's URL: http://dx.doi.org/10.1109/AMC.2010.5464092

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.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Dahiya, Professor Ravinder
Authors: Cattin, D., Oboe, R., Dahiya, R.S., and Valle, M.
College/School:College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering

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