Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors

Seung hyun Choi, Kenji Tahara

研究成果: ジャーナルへの寄稿記事

抜粋

In this paper, a novel visual-tactile sensor is proposed; additionally, an object manipulation method for a multi-fingered robotic hand grasping an object is proposed by detecting a contact position using the visual-tactile sensor. The visual-tactile sensor is composed of a hemispheric fingertip made of soft silicone with a hollow interior and a general USB camera located inside the fingertip to detect the displacement of the many point markers embedded in the silicone. The deformation of each point marker due to a contact force is measured, and a contact position is estimated reliably through a novel method of creating virtual points to determine the point clouds. The aim is to demonstrate both the estimation performance of the new visual-tactile sensor and its usefulness in a grasping and manipulation task. By using the contact position obtained from the proposed sensor and the position of each fingertip obtained from kinematics, the position and orientation of a grasped object are estimated and controlled. The effectiveness of the method is illustrated through numerical simulation and its practical use is demonstrated through grasping and manipulating experiments.

元の言語英語
記事番号14
ジャーナルROBOMECH Journal
7
発行部数1
DOI
出版物ステータス出版済み - 12 1 2020

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Instrumentation
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

フィンガープリント Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用