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ABSTRACT: This paper presents analysis and experiments to define object stiffness control algorithm using a prototype optical three-axis tactile sensor for improvement of dexterous grasping tasks in robotic fingers. We proposed a low force control scheme and conducted a series of calibration experiments with soft and hard objects. We analyzed normal and shearing forces data detected in the experiments. To correlate the normal force characteristics of soft and hard objects, we measured the increment of maximum normal force in specific progress time to classify the stiffness of objects. The shearing force is utilized to define re-pushes velocity of the robot fingers when grasping the object. We compiled the parameters in an algorithm inside the robot control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted which result revealed that robot fingers managed to recognize the stiffness of objects and safely manipulate it.
Micro-NanoMechatronics and Human Science, 2009. MHS 2009. International Symposium on; 12/2009
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ABSTRACT: This paper present object handling capabilities of two robotic hands equipped with optical three-axis tactile sensor. We present optimization of grasp control in tactile sensor and robot hand control system to precisely control robot hand based on tactile sensing information. To enhance performance of the robot hand, stiffness distinction parameters were applied in the control system. These parameters are used to select velocity ratio of robot hand to control re-push motion and define optimum grasp pressure. In addition, slippage recognition method is also applied so that the robot hand can grasp and handle object located at arbitrary position. The proposed control system and parameters were evaluated in object handling experiments with hard and soft objects, and object located at arbitrary position. Experimental results revealed good performance for the robot hand in handling hard and soft objects, and object located at an arbitrary position.
Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on; 11/2009
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ABSTRACT: This paper analyzes grasp synthesis in multi-fingered robot arm equipped with a tactile sensor to handle objects located at arbitrary positions. We developed an 11-dof multi-fingered arm and a novel optical three-axis tactile sensor system based on an optical waveguide transduction method. The tactile sensor can simultaneously acquire normal and shearing forces. We analyzed normal and shear force distribution to grasp real object. The slippage direction acquired from the shear force data was used to control arm movements in the incipient grasp and release motion. Normal force is used to distinguish object stiffness and to generate optimum grasp pressure. The analysis results are compiled in a control algorithm inside the robot control system. The algorithm was evaluated in experiments with real objects, and the results revealed good performance of the robot arm when handling arbitrary located objects.
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on; 08/2009
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ABSTRACT: This paper presents a new algorithm for object handling tasks based on active tactile and slippage sensations using a humanoid robot multifingered arm for an object that exists at an arbitrary position. The idea is to enhance real-time object handling tasks based on tactile sensing in humanoid robotics, where grasp, move and release motions are involved. We developed a novel hemisphere-shaped optical three-axis tactile sensor to mount on fingertips of the robot arm. The tactile sensor is capable of defining normal and shearing forces simultaneously. For grasp and release motions, we designed the algorithm based on slippage direction analysis consisting of coordinate transformation of the sensing element for the arm global coordinate. The robot control system uses the analysis results to determine whether an object is in contact with the ground without needing to measure the height of the ground. The algorithm was evaluated in experiments with soft and hard objects, whereby results revealed good performance for the robot fingers in handling an object at an arbitrary position.
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on; 06/2009
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ABSTRACT: This paper presents experimental results to define suitable parameters in object stiffness control using a prototype optical three-axis tactile sensor mounted on robotic fingers. We have developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method applying image processing technique. We conducted a series of calibration experiments with soft and hard objects to define suitable parameters in object stiffness control. We analyzed normal and shearing forces data detected in the experiments and compiled suitable parameters in an algorithm inside the robot control system. Verification experiment using robotic fingers to manipulate soft object was conducted whose result revealed that the fingerpsilas system managed to recognize the stiffness and safely manipulate the object.
Sensors, 2008 IEEE; 11/2008
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ABSTRACT: This paper presents development of tactile sensing-based control algorithm for humanoid robot finger system with optical three-axis tactile sensor mounted on fingertips. Our aim is to develop an intelligent control system that can recognize stiffness of unknown objects and respond to sudden changes of objectpsilas weight during object manipulation. For this purpose, we developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. We proposed a control algorithm in the finger control system based on tactile and slippage sensations, and analyzed real-time grasp synthesis in object manipulation tasks. The control algorithm was designed to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected in object manipulation tasks. Verification experiments using humanoid robot fingers were conducted whose results revealed that the fingerpsilas system managed to recognize the stiffness of unknown objects and complied with sudden changes of the objectpsilas weight during object manipulation tasks.
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on; 09/2008
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ABSTRACT: This paper presents an application of a low force interaction method in a control scheme of robot manipulation based on tactile sensing. Our aim is to develop an intelligent control system that can distinguish the hardness of unknown objects so that robotic fingers can effectively explore the object's surface without altering its physical properties or causing damage. Initially we developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on the fingertips of the multi-fingered humanoid robot arm. We proposed a new control scheme applying low force interaction to distinguish the hardness of unknown objects in robot manipulation tasks based on tactile sensing. The scheme utilized new control parameters obtained by calibration experiments using hard and soft objects that enable robot fingers to precisely control grasp pressure and define the slippage sensation of the given object. Finally, verification experiments of the proposed control scheme using a humanoid robot arm were conducted whose results revealed that the finger's system managed to recognize the hardness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks.
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on; 06/2008
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ABSTRACT: This paper presents analysis of biped locomotion based on human's walking characteristics to improve walking speed in humanoid robotics. The analysis is focus on improvement of walking speed without changing reduction-ratio at the robot's joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. We use humanoid robot Bonten-Maru II as an analysis platform. Analysis based on simulations and experiments are conducted. In addition, formulations to define efficient gait pattern are also presented. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot without changing reduction-ratio at joint-motor system.
Modeling & Simulation, 2008. AICMS 08. Second Asia International Conference on; 06/2008
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ABSTRACT: This paper presents the development of a contact interaction-based navigation strategy for a biped humanoid robot with the aim of supporting current visual-based navigation. The robot arms are equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization, correction of locomotion direction and obstacle avoidance. Priority is given to right-side direction to navigate the robot locomotion in conjunction with a strategy to avoid obstacles. The proposed algorithm is evaluated in an experiment with a humanoid robot operating in a room with walls and obstacles. The experimental results reveal good performance of the robot when recognizing objects by touching and grasping, continuously generating suitable trajectory to correct locomotion direction and avoiding collisions.
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on; 12/2007
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ABSTRACT: This paper presents analysis to define efficient biped walking locomotion for contribution to the research in humanoid robot navigation. We focus in improvement of walking speed without changing the reduction-ratio at the joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. Analysis based on simulations and experiments utilizing biped humanoid robot Bonten-Maru II were conducted. In addition, analysis to define efficient joint trajectories and gait pattern were also performed. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot compared with current walking condition.
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on; 10/2007
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ABSTRACT: This paper presents the application of a six-axis force sensor and a novel optical three-axis tactile sensor to humanoid robot navigation system which is based on contact interaction towards supporting visual-based navigation. The force sensors are mounted on humanoid robot arms to perform grasping in self-localization task to define the robot's position and orientation. The grasping results guided the robot locomotion and avoid it from collision. Meanwhile the optical three-axis tactile sensors are mounted on cooperative two-finger system for object handling tasks. The tactile sensor is capable of acquiring normal force and shearing force. Experiment with hard and soft objects are performed which results revealed good performance of the integrated robotic fingers and tactile sensor system to recognize and grip the objects. The presented control algorithms for both sensors are capable of preventing the probability of damage to the sensors and objects during robust grasping and object handling tasks.
Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on; 09/2007
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ABSTRACT: This paper presents a design of a 21-DOF humanoid robot from the perspective of DOFs and joint angle range characteristic to identify elements that provide flexibility to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. The investigation is focusing in joint structure design, configuration of DOF and joint rotation range of 21-DOF humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective elements to attain flexibility in human-like motion
Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on; 10/2006
