1A2-A10 せん断応力センサを用いた安定した物体把持のための重心検出(触覚と力覚)

概要

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We proposed a method to detect the center of gravity (CG) in an object with a cantilever-type of tactile sensor. This sensor is covered with elastic body and the size of the sensor is 20mm × 20mm × 8mm. This sensor is capable of measuring shear force, moment, and grip force. The detectable shear force was limited down to 1×10^<-1> N, and the detectable moment was limited down to 1×10^<-3> Nm. We attached the sensor on a robot hand and the CG of objects (80 g, 120 g, and 200g) were detected within a 2.5 mm error. We also fabricated matrix sensors comprising 9 tactile sensors. We detected the CG of a 1.5 kg-object by using the matrix sensors within a 10 mm error, which shows the feasibility of stable grasp with our matrix sensors.
一般社団法人日本機械学会の論文
2007-05-11