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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object

http://hdl.handle.net/2237/13947
http://hdl.handle.net/2237/13947
12986ad8-7546-4f69-b1c0-69445cfb6e37
名前 / ファイル ライセンス アクション
repo3.pdf repo3.pdf (1.7 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 Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object
言語 en
著者 Yussof, Hanafiah

× Yussof, Hanafiah

WEKO 38294

en Yussof, Hanafiah

Search repository
Wada, Jiro

× Wada, Jiro

WEKO 38295

en Wada, Jiro

Search repository
Ohka, Masahiro

× Ohka, Masahiro

WEKO 38296

en Ohka, Masahiro

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 This paper analyzes grasp synthesis in multi-fingered robot arm equipped with a tactile sensor to handle objects located at arbitrary positions. We developed an 11-dof multi-fingered arm and a novel optical three-axis tactile sensor system based on an optical waveguide transduction method. The tactile sensor can simultaneously acquire normal and shearing forces. We analyzed normal and shear force distribution to grasp real object. The slippage direction acquired from the shear force data was used to control arm movements in the incipient grasp and release motion. Normal force is used to distinguish object stiffness and to generate optimum grasp pressure. The analysis results are compiled in a control algorithm inside the robot control system. The algorithm was evaluated in experiments with real objects, and the results revealed good performance of the robot arm when handling arbitrary located objects.
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/AIM.2009.5229954
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-1-4244-2852-6
書誌情報 en : IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

p. 560-565, 発行日 2009-07-14
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13947
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/AIM.2009.5229954
識別子タイプ DOI
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