2P1-O14 反射型触覚センサにおける全体最適化を用いたセンサ面形状復元手法の実装(触覚と力覚(2))

概要

論文の詳細を見る
Because of increasing demands for robots designed to work in the living environment and intuitive interfaces such as iPhones, it is necessary to develop high performance tactile sensors. We are developing a total-internal-reflection based tactile sensor, which reconstructs the sensor surface from a set of feature points on a reflection image of a image pattern. Our proposed method solves Geometric optical constraints by total optimization to reconstruct the sensor surface. By reconstruction from simulated images, we found the proposed method could perform high accurate reconstruction in real time and it was applicable for various sensor shapes and robust to tracking error. Then, we implemented the proposed method on the actual sensor and confirmed the real-time reconstruction.
一般社団法人日本機械学会の論文
2011-05-26