DocumentCode :
3177840
Title :
Active tactile sensing by robotic fingers based on minimum-external-sensor-realization
Author :
Kaneko, Makoto ; Maekawa, Hitoshi ; Tanie, Kazuo
Author_Institution :
Kyushu Inst. of Technol., Fukuoka, Japan
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
1289
Abstract :
The authors discuss active tactile sensing for detecting a contact point between a multifingered robot hand and an unknown object. They define the concept of actively sensible meaning that an active sensing motion can be planned for a sensing event. Assuming more than two sensing events, conditional-minimum-external-sensor-realization is defined, where it is shown that it is possible to reduce the number of external sensors with a well-planned sensing algorithm. Based on these definitions, an active sensing algorithm for detecting the contact point with minimum-external-sensor-realization is proposed. This approach remedies several disadvantages found in conventional approaches. The approach was tested through experiments using a single-finger model with a fingertip tactile sensor
Keywords :
manipulators; tactile sensors; active tactile sensing; contact point; fingertip tactile sensor; minimum-external-sensor-realization; multifingered robot hand; robotic fingers; single-finger model; Computer science; Fingers; Laboratories; Mechanical engineering; Motion detection; Object detection; Robot sensing systems; Shape; Systems engineering and theory; Tactile sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220071
Filename :
220071
Link To Document :
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