Abstract
A whole body tactile skin with a novel design is presented. It is installed on the entire surface of our adult-size humanoid robot. Experiments on various contact motion control, such as handling a 66kg human dummy, are realized.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Kuniyoshi, Y., Ohmura, Y., Terada, K., Nagakubo, A.: Dynamic roll-and-rise motion by an adult-size humanoid robot. Int. Journal of Humanoid Robotics 1(3), 497–516 (2004)
Inaba, M., et al.: A full-body tactile sensor suit using electrically conductive fabric and strings. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 450–457 (1996)
Lumelsky, V.J., Shur, M.S., Wagner, S.: Sensitive skin. IEEE Sensors Journal 1(1), 41–51 (2001)
Miyashita, T., Tajika, T., Ishiguro, H., Kogure, K., Hagita, N.: Haptic communication between humans and robots. In: Proc. 12th Int. Symp. of Robotics Research (2005)
Onishi, M., Odashima, T., Mukai, T., Luo, Z.W.: Holding up a dummy by soft human interacting robot ri-man. In: SICE System Integration Division Ann. Conf., pp. 1166–1167 (2006) (in Japanese)
Shinoda, H., Morimoto, N., Ando, S.: Tactile sensing using tensor cell. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 825–830 (1995)
Hakozaki, M., Oasa, H., Shinoda, H.: Telemetric skin. In: Proc. 16th Sensor Symposium, pp. 223–226 (1998)
Shinoda, H., Asamura, N., Hakozaki, M., Wang, X.: Two-dimensional signal transmission technology for robotics. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3207–3212 (2003)
Ohmura, Y., Nagakubo, A., Kuniyshi, Y.: Conformable and scalable tactile sensor skin for curved surfaces. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1348–1353 (2006)
Reimer Ernest, M.: Canadian Space Agency Danisch Lee A. Pct, wo (1999)
Tekscan Inc. F-scan system. MA, USA (1997)
Nagakubo, A., Kuniyoshi, Y., Cheng, G.: The etl-humanoid system – a high-performance full body humanoid system for versatile real world interaction. Advanced Robotics 17(2), 149–164 (2003)
Ohmura, Y., Kuniyoshi, Y.: Dynamic roll-and-rise motion of an adult-size humanoid with tactile sensors. In: Proc. Ann. Conf. of Robotics Society of Japan, p. 2H22 (2006) (In Japanese)
Ohmura, Y., Kuniyoshi, Y.: Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (2007) (to appear)
Odashima, T., Onishi, M., Tahara, K., Mukai, T., Hirano, S., Luo, Z.W.: Development a human-interactive robot ri-man. In: FAN Symposium 2006 in Tokyo, pp. 71–74 (2006) (in Japanese)
Arisumi, H., Yokoi, K.: Dynamic lifting motion of humanoid robot. In: Robotic Symposia, pp. 14–20 (2006) (in Japanese)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kuniyoshi, Y., Ohmura, Y., Nagakubo, A. (2010). Whole Body Haptics for Augmented Humanoid Task Capabilities. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-14743-2_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14742-5
Online ISBN: 978-3-642-14743-2
eBook Packages: EngineeringEngineering (R0)