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  1. A500 情報学部/情報学研究科・情報文化学部・情報科学研究科
  2. A500e 会議資料
  3. 国際会議

Determination of Object Stiffness Control Parameters in Robot Manipulation Using a Prototype Optical Three-Axis Tactile Sensor

http://hdl.handle.net/2237/12138
http://hdl.handle.net/2237/12138
695e45be-e809-4aa1-9752-1f9b335135ef
名前 / ファイル ライセンス アクション
Sensor2008_253_6421.pdf Sensor2008_253_6421.pdf (1.1 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2009-09-01
タイトル
タイトル Determination of Object Stiffness Control Parameters in Robot Manipulation Using a Prototype Optical Three-Axis Tactile Sensor
言語 en
著者 Yussof, Hanafiah

× Yussof, Hanafiah

WEKO 31298

en Yussof, Hanafiah

Search repository
Ohka, Masahiro

× Ohka, Masahiro

WEKO 31299

en Ohka, Masahiro

Search repository
Omar, Abdul Rahman

× Omar, Abdul Rahman

WEKO 31300

en Omar, Abdul Rahman

Search repository
Ayub, Muhammad Azmi

× Ayub, Muhammad Azmi

WEKO 31301

en Ayub, Muhammad Azmi

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 Copyright © 2008 IEEE. Reprinted from Sensors, 2008 IEEE. 2008. p.992-995. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply <br/>IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for <br/>creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.
抄録
内容記述 This paper presents experimental results to define suitable parameters in object stiffness control using a prototype optical three-axis tactile sensor mounted on robotic fingers. We have developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method applying image processing technique. We conducted a series of calibration experiments with soft and hard objects to define suitable parameters in object stiffness control. We analyzed normal and shearing forces data detected in the experiments and compiled suitable parameters in an algorithm inside the robot control system. Verification experiment using robotic fingers to manipulate soft object was conducted whose result revealed that the finger's system managed to recognize the stiffness and safely manipulate the object.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/ICSENS.2008.4716609
ISSN
収録物識別子タイプ PISSN
収録物識別子 1930-0395
書誌情報 en : IEEE Sensors

p. 992-995, 発行日 2008-10
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://dx.doi.org/10.1109/ICSENS.2008.4716609
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/12138
識別子タイプ HDL
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