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

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 poin...

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Bibliographic Details
Main Authors: Matsuo, Kazuya, Murakami, Kouji, Niwaki, Katsuya, Hasegawa, Tsutomu, Tahara, Kenji, Kurazume, Ryo
Format: Conference Proceeding
Language:English
Subjects:
Equations
Estimation
Force
Mathematical model
Robot sensing systems
Online Access:Request full text
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Summary: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.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5649899