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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/2237/1394694e21cba-e2c4-4c3e-aa48-df1525af9250
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
repo2.pdf (1.1 MB)
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| Item type | 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 | Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task | |||||
| 言語 | en | |||||
| 著者 |
Ohka, M.
× Ohka, M.× Morisawa, N.× Yussof, H.B. |
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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 | ©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 | ||||||
| 内容記述タイプ | Abstract | |||||
| 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 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | 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 |
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| フォーマット | ||||||
| 値 | application/pdf | |||||
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| 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 | |||||
