3軸触覚センサ付き平行指ハンドを用いた触覚エキスパートシステム

概要

論文の詳細を見る
In order to improve the intelligence of a robot with a tactile sensor, we have discussed basic tactile information, such as slippage and the hardness of a grasped object. In this paper, we produce a tactile expert system which can recognize the material and the shape of the object, and the stability of grasping by means of a reasonable combination of the basic tactile information. Also, in order to discuss the validity of the system, we produced a robot hand which has two plate-type fingers with three-dimensional tactile sensors, and then carried out a series of experiments with the hand and the system. Recognition experiments show that the system can infer seven kinds of objects and that it can control the hand in response to the kinds of instability in grasping.
一般社団法人日本機械学会の論文
1991-12-25