Tactile Servo Based on Pressure Distribution

Chen Ting Wen, Jun Kinugawa, Shogo Arai, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Tactile sensation is an important perception to enable humans to observe the environment by touch. Then efficient and suitable actions can be performed by the feedback of tactile sensation. In order to acquire human-like dexterity, robot manipulation by tactile sensation, tactile servo, was proposed and developed. In this paper, we propose a new idea for processing tactile images to refine tactile servo, utilizing whole pressure distribution instead of specific tactile features. To validate the feasibility of the proposed method in this paper, experiments were conducted by using the tactile sensing array mounted on the robot to move on the specific object, and the performance is assessed by the normalized cross correlation (NCC). Moreover, comparison with previous method was carried out. The feasibility of tactile servo based on pressure distribution is verified.

Original languageEnglish
Title of host publicationProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages868-873
Number of pages6
ISBN (Electronic)9781728116983
DOIs
Publication statusPublished - 2019 Aug
Event16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
Duration: 2019 Aug 42019 Aug 7

Publication series

NameProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Country/TerritoryChina
CityTianjin
Period19/8/419/8/7

Keywords

  • pressure distribution
  • tactile feature
  • tactile servo

ASJC Scopus subject areas

  • Signal Processing
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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