2A2-C11 Grasping Strategy of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors

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概要

• 論文の詳細を見る

• This paper presents grasping strategy of robot fingers based on tactile sensing information acquired by optical three-axis tactile sensor. We developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on fingertips of two robotic fingers. To enhance the ability of recognizing and manipulating objects, we designed the robot control system architecture comprised of connection module, thinking routines, and a hand/finger control modules. We proposed tactile sensing-based control algorithm in the robot finger control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted whose results revealed that the finger's system managed to recognize the stiffness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• Ohka Masahiro

  Graduate School Of Information Science Nagoya University

• YUSSOF Hanafiah

  Graduate School of Information Science, Nagoya University

• WADA Jiro

  Graduate School of Engineering, Nagoya University

• Yussof Hanafiah

  Graduate School Of Information Science Nagoya University:faculty Of Mechanical Engineering Universit

• Wada Jiro

  Graduate School Of Engineering Nagoya University

関連論文

• A Tactile Recognition System Mimicking Human Mechanism for Recognizing Surface Roughness
• 2A2-C11 Grasping Strategy of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors
• Two-Axial Piezoelectric Actuator Controller Using a Multi-Layer Artificial Neural Network Featuring Feedback Connection for Tactile Displays

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