Conference Proceeding

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

Fac. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka, Japan
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems 11/2010; DOI:10.1109/IROS.2010.5649899 pp.1884 - 1889 In proceeding of: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Source: IEEE Xplore

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.

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Keywords

contact information
 
contact point
 
estimation
 
force sensor
 
joint-axis
 
multi-jointed multi-fingered robotic hand manipulates
 
robotic fingertip
 
soft fingertip
 
soft skin
 

K Matsuo