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Object handling tasks based on active tactile and slippage sensations in a multi-fingered humanoid robot arm
http://hdl.handle.net/2237/13945
http://hdl.handle.net/2237/1394537cfbbdf-a311-42a6-b309-2fdde84fc9d8
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
repo1.pdf (1.7 MB)
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| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2010-08-04 | |||||
| タイトル | ||||||
| タイトル | Object handling tasks based on active tactile and slippage sensations in a multi-fingered humanoid robot arm | |||||
| 言語 | en | |||||
| 著者 |
Yussof, Hanafiah
× Yussof, Hanafiah× Wada, Jiro× Ohka, Masahiro |
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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 | ||||||
| 権利情報 | ©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. | |||||
| 言語 | en | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a new algorithm for object handling tasks based on active tactile and slippage sensations using a humanoid robot multifingered arm for an object that exists at an arbitrary position. The idea is to enhance real-time object handling tasks based on tactile sensing in humanoid robotics, where grasp, move and release motions are involved. We developed a novel hemisphere-shaped optical three-axis tactile sensor to mount on fingertips of the robot arm. The tactile sensor is capable of defining normal and shearing forces simultaneously. For grasp and release motions, we designed the algorithm based on slippage direction analysis consisting of coordinate transformation of the sensing element for the arm global coordinate. The robot control system uses the analysis results to determine whether an object is in contact with the ground without needing to measure the height of the ground. The algorithm was evaluated in experiments with soft and hard objects, whereby results revealed good performance for the robot fingers in handling an object at an arbitrary position. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 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/ROBOT.2009.5152367 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 1050-4729 | |||||
| 書誌情報 |
en : IEEE International Conference on Robotics and Automation (ICRA '09) p. 502-507, 発行日 2009-05-12 |
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| フォーマット | ||||||
| 値 | application/pdf | |||||
| 著者版フラグ | ||||||
| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/13945 | |||||
| 識別子タイプ | HDL | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.1109/ROBOT.2009.5152367 | |||||
| 識別子タイプ | DOI | |||||
