Tactile Expert System Using a Parallel-Fingered Hand Fitted with Three-Axis Tactile Sensors
スポンサーリンク
概要
- 論文の詳細を見る
In an effort to improve the intelligence of a robot fitted with tactile sensors, we have developed a tactile sensor array which detects the distribution of three applied force vector components. Here, we introduce formulas for basic tactile information such as applied force and moment, centroid of distributed pressure, contact pattern, contact state and mechanical properties, obtained through contact of the tactile sensor with an object. We then produce a tactile expert system which is capable of recognizing the material, shape and stability of the object by means of a reasonably combining the basic tactile information. Recognition experiments show that the system can infer the material and shape of seven objects and that it can control the hand in response to the different kinds of grasping instability.
- 一般社団法人日本機械学会の論文
- 1994-03-15
著者
-
KOBAYASHI Masahito
Mechanical Engineering Research Laboratory, Hitachi, Ltd.
-
Kobayashi Mitsuo
Mechanical Engineering Research Laboratory Hitachi Ltd.
-
SHINOKURA Tsuneki
Fuji Electric Co. Ltd., Central Research Laboratory.
-
Ohka Masahiro
Department of Mechanical Engineering, Shizuoka Institute of Science and Technology
-
Kobayashi Mitsuo
Fuji Electric Corporate Research and Development, Ltd.
-
Sagisawa Shinobu
Fuji Electric Corporate Research and Development, Ltd.
-
Ohka Masahiro
Department Of Complex System Science Graduate School Of Information Science Nagoya University
-
Ohka Masahiro
Department Of Mechanical Engineering Shizuoka Institute Of Science And Technology
-
Sagisawa Shinobu
Fuji Electric Corporate Research And Development Ltd.
-
Shinokura Tsuneki
Fuji Electric Co. Ltd.
関連論文
- MC-16 RESIDUAL VIBRATIONLESS SEEKING DESIGN BASED ON FINAL-STATE CONTROL IN HARD DISK DRIVES
- Adaptive Seeking Control for Magnetic Disk Drives
- Adaptive Control of a Hybrid Servo System for Magnetic Disk Drives
- Study of the Pass Schedule in Conventional Simple Spinning
- Tactile Expert System Using a Parallel-Fingered Hand Fitted with Three-Axis Tactile Sensors
- IM-06 FIGURE AND TEXTURE PRESENTATION CAPABILITIES OF TACTILE DISPLAYS FEATURING AN ARRAY OF STIMULUS PINS DRIVEN BY PIEZOELECTRIC BIMORPH ACTUATORS
- INT-09 CONTROL METHOD FOR PZT PIEZOELECTRIC ACTUATOR USING MULTI-LAYER NEURAL NETWORK INCLUDING FEEDBACK CONNECTION(Intelligent Machines III,Technical Program of Oral Presentations)
- INT-K INTELLIGENT TACTILE SENSING INSPIRED BY COMPLEX SYSTEMS SCIENCE(Intelligent Machines II,Technical Program of Oral Presentations)