1A1-C17 接触情報を用いた物体の関節回転軸位置の推定

概要

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This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand uses a tool with a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the object as contact information measured by a robotic fingertip. A conventional hard fingertip with a force sensor can measure only the location of a contact point. In contrast, we have already developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of the edge of the object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.
一般社団法人日本機械学会の論文