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Application of stiffness control algorithm for dexterous robot grasping using optical three-axis tactile sensor system
http://hdl.handle.net/2237/13948
http://hdl.handle.net/2237/139486bbe7d56-eb49-4fb7-ae5f-ce75e99fbbca
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
repo4.pdf (414.2 kB)
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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 | Application of stiffness control algorithm for dexterous robot grasping using optical three-axis tactile sensor system | |||||
| 言語 | en | |||||
| 著者 |
Yussof, Hanafiah
× Yussof, Hanafiah× 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 | ||||||
| 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 | This paper presents analysis and experiments to define object stiffness control algorithm using a prototype optical three-axis tactile sensor for improvement of dexterous grasping tasks in robotic fingers. We proposed a low force control scheme and conducted a series of calibration experiments with soft and hard objects. We analyzed normal and shearing forces data detected in the experiments. To correlate the normal force characteristics of soft and hard objects, we measured the increment of maximum normal force in specific progress time to classify the stiffness of objects. The shearing force is utilized to define re-pushes velocity of the robot fingers when grasping the object. We compiled the parameters in an algorithm inside the robot control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted which result revealed that robot fingers managed to recognize the stiffness of objects and safely manipulate it. | |||||
| 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/MHS.2009.5351803 | |||||
| ISBN | ||||||
| 関連タイプ | isPartOf | |||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-1-4244-5094-7 | |||||
| 書誌情報 |
en : International Symposium on Micro-NanoMechatronics and Human Science (MHS 2009) p. 472-476, 発行日 2009-11-09 |
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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/2237/13948 | |||||
| 識別子タイプ | HDL | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.1109/MHS.2009.5351803 | |||||
| 識別子タイプ | DOI | |||||
