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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
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
著者 Yussof, Hanafiah

× Yussof, Hanafiah

WEKO 31298

Yussof, Hanafiah

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Ohka, Masahiro

× Ohka, Masahiro

WEKO 31299

Ohka, Masahiro

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Omar, Abdul Rahman

× Omar, Abdul Rahman

WEKO 31300

Omar, Abdul Rahman

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Ayub, Muhammad Azmi

× Ayub, Muhammad Azmi

WEKO 31301

Ayub, Muhammad Azmi

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権利
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
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
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.
内容記述タイプ Abstract
出版者
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
ISSN
収録物識別子タイプ ISSN
収録物識別子 1930-0395
書誌情報 IEEE Sensors

p. 992-995, 発行日 2008-10
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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