Handling capabilities of two robot hands equipped with optical three-axis tactile sensor | IEEE Conference Publication | IEEE Xplore

Handling capabilities of two robot hands equipped with optical three-axis tactile sensor


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 ...Show More

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.
Date of Conference: 27 September 2009 - 02 October 2009
Date Added to IEEE Xplore: 10 November 2009
CD:978-1-4244-5081-7

ISSN Information:

Conference Location: Toyama, Japan

References

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