Pre-shaping for various objects by the robot hand equipped with resistor network structure proximity sensors
Pre-shaping for various objects by the robot hand equipped with resistor network structure proximity sensors
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DOI：
10.1109/iros.2013.6696932
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
Keisuke Koyama;Hiroaki Hasegawa;Yosuke Suzuki;A. Ming;M. Shimojo
中科院分区：
文献类型：
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作者：
Keisuke Koyama;Hiroaki Hasegawa;Yosuke Suzuki;A. Ming;M. Shimojo
在本文中，我们演示了一个初步的运动之前，由机器人手抓住，调整对象的指尖距离和2轴的姿态同时，使用电阻网络结构接近传感器（RNSP传感器）。通过这种运动（称为“预成形”）和物体的抓取，每个指尖的表面与物体表面接触，使得在下一阶段可以进行抓取。在下一阶段，力可以从指尖直接施加到物体表面上。预成形增强了接触后触觉传感器的反馈控制的可靠性。为了实现预成形，我们使用配备RNSP传感器的指尖，它可以检测指尖和物体之间的距离，以确定指尖和物体之间的相对位置。RNSP传感器具有快速响应（<1 [ms]）和简单的连接性（仅6根线），并且易于安装。此外，RNSP传感器输出的特性可以通过传感器元件的布置来设计。为了通过基于指尖和物体之间的配置的简单传感器反馈控制来执行预成形，我们设计了RNSP传感器，使得它具有用于预成形的适当特性。
In this paper, we demonstrate a preliminary motion before grasping by a robot hand, for adjusting the object-fingertip distance and 2-axis postures simultaneously, using a Resistor Network Structure Proximity sensor (RNSP sensor). Through this motion (called “pre-shaping”) and the grasping of an object, the surface of each fingertip is brought into contact with the object surface so that in the next stage grasping can be undertaken. In the next stage, a force can be applied from the fingertips onto the object surface directly. The pre-shaping enhances the reliability of the feedback control for the after-contact tactile sensors. To realize the pre-shaping, we use fingertips equipped with RNSP sensors, which can detect the distance between the fingertip and the object, to determine the relative position between fingertips and an object. The RNSP sensor has a fast response (<;1 [ms]) and simple connectivity (only 6 wires), and can be mounted easily. Additionally, a characteristics of the RNSP sensor output can be designed by the arrangement of the sensor elements. To perform the pre-shaping by simple sensor feedback control based on the configuration between the fingertip and object, we designed the RNSP sensor so that it had the appropriate characteristics for the pre-shaping.