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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. A500a 雑誌掲載論文
  3. 学術雑誌

Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task

http://hdl.handle.net/2237/13946
http://hdl.handle.net/2237/13946
94e21cba-e2c4-4c3e-aa48-df1525af9250
名前 / ファイル ライセンス アクション
repo2.pdf repo2.pdf (1.1 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-08-04
タイトル
タイトル Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task
言語 en
著者 Ohka, M.

× Ohka, M.

WEKO 38291

en Ohka, M.

Search repository
Morisawa, N.

× Morisawa, N.

WEKO 38292

en Morisawa, N.

Search repository
Yussof, H.B.

× Yussof, H.B.

WEKO 38293

en Yussof, H.B.

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 ©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.
抄録
内容記述 In a previous paper, we developed a robotic finger equipped with optical three-axis tactile sensors, of which the sensing cell can separately detect normal and shearing forces. With appropriate precision, the robotic finger was able to perform three tasks: scanning flat specimens to obtain the friction coefficient, following the contour of objects, and manipulating a parallelepiped case put on a table by sliding it on the table. In the present study, designed as a follow-up to the above study, a robotic hand is composed of two robotic fingers. Not only tri-axial force distribution directly obtained from the tactile sensor but also the time derivative of the shearing force distribution are used for the hand control algorithm: if grasping force measured from normal force distribution is lower than a threshold, grasping force is increased; the time derivative is defined as slippage; if slippage arises, grasping force is enhanced to prevent fatal slippage between the finger and an object. In the verification test, the robotic hand screws a bottle cap to close it. Although input finger trajectories were a rectangular roughly decided to touch and screw the cap, a segment of the rectangular was changed from a straight line to a curved line to fit the cap contour. We concluded that higher order tactile information such as tri-axial tactile data can reduce the complexity of the control algorithm.
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/ROBOT.2009.5152245
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. 883-888, 発行日 2009-05-12
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13946
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/ROBOT.2009.5152245
識別子タイプ DOI
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