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

Genichiro Kinoshita, Shinya Ishii, Koujiro Iizuka

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
ページ2290-2295
ページ数6
DOI
出版ステータスPublished - 2007 12 1
外部発表はい
イベント33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
継続期間: 2007 11 52007 11 8

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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