2024-03-28T08:12:35Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00012070
2023-01-16T04:31:57Z
312:313:314
Application of stiffness control algorithm for dexterous robot grasping using optical three-axis tactile sensor system
Yussof, Hanafiah
Ohka, Masahiro
open access
©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
This paper presents analysis and experiments to define object stiffness control algorithm using a prototype optical three-axis tactile sensor for improvement of dexterous grasping tasks in robotic fingers. We proposed a low force control scheme and conducted a series of calibration experiments with soft and hard objects. We analyzed normal and shearing forces data detected in the experiments. To correlate the normal force characteristics of soft and hard objects, we measured the increment of maximum normal force in specific progress time to classify the stiffness of objects. The shearing force is utilized to define re-pushes velocity of the robot fingers when grasping the object. We compiled the parameters in an algorithm inside the robot control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted which result revealed that robot fingers managed to recognize the stiffness of objects and safely manipulate it.
IEEE
2009-11-09
eng
journal article
VoR
http://hdl.handle.net/2237/13948
https://nagoya.repo.nii.ac.jp/records/12070
https://doi.org/10.1109/MHS.2009.5351803
978-1-4244-5094-7
International Symposium on Micro-NanoMechatronics and Human Science (MHS 2009)
472
476
https://nagoya.repo.nii.ac.jp/record/12070/files/repo4.pdf
application/pdf
414.2 kB
2018-02-20