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ICRA
2009
IEEE

Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task

9 years 1 months ago
Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task
In a previous paper, we developed a robotic finger equipped with optical three-axis tactile sensors, of which the sensing cell can separately detect normal and shearing forces. With appropriate precision, the robotic finger was able to perform three tasks: scanning flat specimens to obtain the friction coefficient, following the contour of objects, and manipulating a parallelepiped case put on a table by sliding it on the table. In the present study, designed as a follow-up to the above study, a robotic hand is composed of two robotic fingers. Not only tri-axial force distribution directly obtained from the tactile sensor but also the time derivative of the shearing force distribution are used for the hand control algorithm: if grasping force measured from normal force distribution is lower than a threshold, grasping force is increased; the time derivative is defined as slippage; if slippage arises, grasping force is enhanced to prevent fatal slippage between the finger and an object. ...
Masahiro Ohka, Nobuyuki Morisawa, Hanafiah B. Yuss
Added 19 Feb 2011
Updated 19 Feb 2011
Type Journal
Year 2009
Where ICRA
Authors Masahiro Ohka, Nobuyuki Morisawa, Hanafiah B. Yussof
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