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

All Science Journal Classification (ASJC) codes

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

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