触覚センサによる滑り検出に基づく多指ハンドの把持力制御

DOI Web Site 被引用文献9件 参考文献10件 オープンアクセス

書誌事項

タイトル別名
  • Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor
  • ショッカク センサ ニ ヨル スベリ ケンシュツ ニ モトズク タシ ハンド ノ ハジリョク セイギョ

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説明

To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for detecting the slip of grasping object by force output of the Center of Pressure (CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load which is applied on the surface of the sensor within 1 [ms] . This sensor is arranged on finger of the robot hand, and the effectiveness as slip detecting sensor is confirmed by experiment of slip detection on grasping. Finally, we propose a method for controlling grasping force resist the tangential force added to the grasping object by feedback control system of the CoP sensor force output.

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