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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

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/2237/13948
6bbe7d56-eb49-4fb7-ae5f-ce75e99fbbca
名前 / ファイル ライセンス アクション
repo4.pdf repo4.pdf (414.2 kB)
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 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

WEKO 38297

en Yussof, Hanafiah

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Ohka, Masahiro

× Ohka, Masahiro

WEKO 38298

en 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
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/2237/13948
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
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