TY - GEN
T1 - Tactile servo using dynamic tactile jacobian estimator
AU - Wen, Chen Ting
AU - Kinugawa, Jun
AU - Arai, Shogo
AU - Kosuge, Kazuhiro
N1 - Funding Information:
This work was supported by JSPS KAKENHI, Grant Number 16H04292.
PY - 2019/12
Y1 - 2019/12
N2 - Nowadays, a wide variety of service robots have been developed to assistant humans in performing tasks that are dull and repetitive, such as household chores. Tactile perception can play a critical role in a service robot to improve its performance. Thus, the robot control method with tactile perception, Tactile servo, was proposed. However, the common tactile servo cannot deal with the targets so generally and flexibly. To enhance the performance of the tactile servo, this study is to present an agile and versatile tactile servo by the dynamic tactile Jacobian estimator which can generate an adjustable tactile Jacobian instead of a fixed tactile Jacobian used in the common tactile servo. In the experimental validation, this research utilized the objects with different shapes for experimenting, and this research confirmed the feasibility of the tactile servo using the dynamic tactile Jacobian estimator in final. This paper explains the method and demonstrates the results.
AB - Nowadays, a wide variety of service robots have been developed to assistant humans in performing tasks that are dull and repetitive, such as household chores. Tactile perception can play a critical role in a service robot to improve its performance. Thus, the robot control method with tactile perception, Tactile servo, was proposed. However, the common tactile servo cannot deal with the targets so generally and flexibly. To enhance the performance of the tactile servo, this study is to present an agile and versatile tactile servo by the dynamic tactile Jacobian estimator which can generate an adjustable tactile Jacobian instead of a fixed tactile Jacobian used in the common tactile servo. In the experimental validation, this research utilized the objects with different shapes for experimenting, and this research confirmed the feasibility of the tactile servo using the dynamic tactile Jacobian estimator in final. This paper explains the method and demonstrates the results.
KW - Pressure distribution
KW - Tactile Jacobian estimator
KW - Tactile servo
UR - http://www.scopus.com/inward/record.url?scp=85079073387&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85079073387&partnerID=8YFLogxK
U2 - 10.1109/ROBIO49542.2019.8961562
DO - 10.1109/ROBIO49542.2019.8961562
M3 - Conference contribution
AN - SCOPUS:85079073387
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 235
EP - 240
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -