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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/2237/12138695e45be-e809-4aa1-9752-1f9b335135ef
名前 / ファイル | ライセンス | アクション |
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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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× Ohka, Masahiro× Omar, Abdul Rahman× Ayub, Muhammad Azmi |
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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 |
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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 |