Object's rolling manipulations of dual robot hands with tactile sensor

Genichiro Kinoshita, Shinya Ishii, Koujiro Iizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the experiments in which two industrial robots attempted to roll an object by holding it between the right and the left hands. The palms of the robot hands are used to manipulate the object. Tactile sensors with the functions of acquiring the tactual images and sensing the forces from the arrayed sensing elements were manufactured for these experiments. To rotate the object, the robot hand holds it with both palms. The use of the tactile sensors are able to manipulate an object between both hand, although it is difficult for the hand with force sensor to do a rolling manipulation of an object. The tactile sensing system distinguish the pattern of an object's posture, a direction of the hand manipulation, the supporting force of the hand and a trajectory of the hand. The experiments for rolling the object of a square pillar and a sphere are succeeded by two sets of robot hand.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages2290-2295
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Conference

Conference33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kinoshita, G., Ishii, S., & Iizuka, K. (2007). Object's rolling manipulations of dual robot hands with tactile sensor. In Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON (pp. 2290-2295). [4460208] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2007.4460208