Model and processing of whole-body tactile sensor suit for human-robot contact interaction
Model and processing of whole-body tactile sensor suit for human-robot contact interaction
复制标题
人机接触交互全身触觉传感器模型与处理
DOI：
10.1109/robot.1998.680663
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
Y. Hoshino;M. Inaba;H. Inoue
当机器人被人类触摸时，使机器人能够做出反应的功能对于进入我们日常生活的机器人来说是必不可少的。描述了适合于人机交互的全身仿人触觉传感器的模型和处理过程。首先对触觉传感器套装进行建模，形成符号化的触觉数据结构。然后提出了转换和补偿过程，使机器人获得准确的触觉数据，无论它采取的姿态。然后，我们解释了机器人系统和两个实验，使用36自由度的全身人形：第一个是获取地图处理触觉数据，第二个是构象的人的形状作为一个人与机器人接触的互动与建议的传感器套装模型和处理。
The function that enables a robot to react when touched by a human is indispensable for a robot which enters our daily life. This paper describes the model and processing of full-body humanoid's tactile sensor suit for the human-robot interaction. The tactile sensor suit is first modeled to make a symbolized tactile data structure. Then conversion and compensation process is proposed to enable the robot to obtain accurate tactile data no matter what posture it takes. Then we explain the robot system and two experiments using a 36 DOF full-body humanoid: the first is the acquiring maps to process the tactile data, and second is the conformation to a human's shape as a human-robot contact interaction with proposed sensor suit model and processing.