Object Exploration Using a Three-Axis Tactile Sensing Information | Science Publications

Journal of Computer Science

S. C. Abdullah¹  Jiro Wada¹  Masahiro Ohka¹  Hanafiah Yussof¹ 

关键词: Object exploration;    tactile-force sensing;    three-axis;    tactile sensor;    object shape;    normal force;    tangential increment;   

DOI  :  10.3844/jcssp.2011.499.504

学科分类：计算机科学（综合）

来源: Science Publications

【 摘 要 】

Problem statement: To advance the robust object recognition of robots, we present analgorithm for object exploration based on three-axis tactile data that is necessary and sufficient for theevaluation of contact phenomena. Approach: The object surface contour is acquired by controlling thefinger position so that the normal force, measured by optical three-axis tactile sensors, remains constant astwo fingertips slide along the object surface. In this algorithm, when the robot grasps an object, thetangential force increment is checked to judge the initial contact state because it is more sensitive than thenormal force. After contact between the fingertips and the object, the normal force is adjusted to remainconstant with a tolerant value between the upper and lower thresholds. Results: In the verification test,shape exploration experiments were conducted using a hand-arm robot equipped with our tactile sensor anda hard sinusoidal-shaped wooden object. Experimental results show that the hand-arm robot is capable ofgathering the object contour having a concave or convex portion because its finger position controlled bythree-axis tactile sensing information follows the object surface. Conclusion/Recommendations: Wederive a control algorithm in robot fingers based on time tangential force increment and normal forcedetection to perform a shape exploration procedure.

【 授权许可】

Unknown