DocumentCode
3013724
Title
Real-time collision detection for intrinsic safety of Multi-fingered SDH-2
Author
Haase, Thomas ; Worn, Heinz
Author_Institution
Inst. for Process Control & Robot., Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
fYear
2010
fDate
3-7 May 2010
Firstpage
3995
Lastpage
4000
Abstract
This paper presents an algorithm to detect finger collisions in Multi-fingered robot hand SDH-2. The need for this feature is discussed and advantages are shown. It will be presented, in which way the algorithm is build into a basic development environment of reactive grasping and what are possible problems and possibilities in collaboration with the tactile sensor elements.
Keywords
collision avoidance; dexterous manipulators; tactile sensors; intrinsic safety; multifingered SDH-2; real-time collision detection; tactile sensor; Safety;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509261
Filename
5509261
Link To Document