Tactile Servo Based on Pressure Distribution

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ868-873
ページ数6
ISBN(電子版)9781728116983
DOI
出版ステータスPublished - 2019 8
イベント16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
継続期間: 2019 8 42019 8 7

出版物シリーズ

名前Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
国/地域China
CityTianjin
Period19/8/419/8/7

ASJC Scopus subject areas

  • 信号処理
  • 機械工学
  • 制御と最適化
  • 人工知能

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