2A2-A16 Peeling Operation of Humanoid Based on Recognition and Adaptation to Vegetable Surface condition

This paper describes recognition and operation system for humanoid’s peeling operation.Vegetable surfaces are uneven and untypical.To stop peeling , it is necessary to know surface condition.So, in the case of peeling, it is important to apapt and recognize the vegetable surface condition.In this paper, we show that impedance cobntrol is useful to peel vegetable surface.And we also indicate background subtraction method is good to recognize surface condition.