A tactile sensing for estimating the position and orientation of a joint-axis of a linked object

Kazuya Matsuo, Kouji Murakami, Katsuya Niwaki, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume

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

Abstract

This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A conventional hard fingertip with a force sensor can measure only the location of a contact point. In contrast, we have already developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages1884-1889
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

Fingerprint

Point contacts
Robotics
Sensors
End effectors
Skin

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Matsuo, K., Murakami, K., Niwaki, K., Hasegawa, T., Tahara, K., & Kurazume, R. (2010). A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1884-1889). [5649899] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649899

A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. / Matsuo, Kazuya; Murakami, Kouji; Niwaki, Katsuya; Hasegawa, Tsutomu; Tahara, Kenji; Kurazume, Ryo.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 1884-1889 5649899 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Matsuo, K, Murakami, K, Niwaki, K, Hasegawa, T, Tahara, K & Kurazume, R 2010, A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5649899, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 1884-1889, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5649899
Matsuo K, Murakami K, Niwaki K, Hasegawa T, Tahara K, Kurazume R. A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 1884-1889. 5649899. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649899
Matsuo, Kazuya ; Murakami, Kouji ; Niwaki, Katsuya ; Hasegawa, Tsutomu ; Tahara, Kenji ; Kurazume, Ryo. / A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 1884-1889 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).
@inproceedings{f3a78a7295e145f8987a737b377ad053,
title = "A tactile sensing for estimating the position and orientation of a joint-axis of a linked object",
abstract = "This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A conventional hard fingertip with a force sensor can measure only the location of a contact point. In contrast, we have already developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.",
author = "Kazuya Matsuo and Kouji Murakami and Katsuya Niwaki and Tsutomu Hasegawa and Kenji Tahara and Ryo Kurazume",
year = "2010",
month = "12",
day = "1",
doi = "10.1109/IROS.2010.5649899",
language = "English",
isbn = "9781424466757",
series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
pages = "1884--1889",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

}

TY - GEN

T1 - A tactile sensing for estimating the position and orientation of a joint-axis of a linked object

AU - Matsuo, Kazuya

AU - Murakami, Kouji

AU - Niwaki, Katsuya

AU - Hasegawa, Tsutomu

AU - Tahara, Kenji

AU - Kurazume, Ryo

PY - 2010/12/1

Y1 - 2010/12/1

N2 - This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A conventional hard fingertip with a force sensor can measure only the location of a contact point. In contrast, we have already developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.

AB - This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A conventional hard fingertip with a force sensor can measure only the location of a contact point. In contrast, we have already developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.

UR - http://www.scopus.com/inward/record.url?scp=78651474082&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78651474082&partnerID=8YFLogxK

U2 - 10.1109/IROS.2010.5649899

DO - 10.1109/IROS.2010.5649899

M3 - Conference contribution

AN - SCOPUS:78651474082

SN - 9781424466757

T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

SP - 1884

EP - 1889

BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

ER -