Tactile sensing-based control algorithm for real-time grasp synthesis in object manipulation tasks of humanoid robot fingers
Tactile sensing-based control algorithm for real-time grasp synthesis in object manipulation tasks of humanoid robot fingers
复制标题
DOI：
10.1109/roman.2008.4600695
复制
发表时间：
2008-08
期刊：
影响因子：
--
通讯作者：
H. Yussof;M. Ohka;Hirofumi Suzuki;Nobuyuki Morisawa
中科院分区：
文献类型：
--
作者：
H. Yussof;M. Ohka;Hirofumi Suzuki;Nobuyuki Morisawa
提出了一种基于触觉传感的仿人机器人手指系统控制算法，该系统采用光学三轴触觉传感器安装在手指上。我们的目标是开发一种智能控制系统，能够识别未知物体的刚度，并在物体操纵过程中对物体重量的突然变化做出反应。为此，我们开发了一种基于光波导转导方法的新型光学三轴触觉传感器系统，该系统能够获取法向力和剪力。提出了一种基于触觉和滑动感觉的手指控制系统控制算法，并对物体操作任务中的实时抓取综合进行了分析。该控制算法通过定义最佳抓握压力来控制指尖运动，并在物体操作任务中检测到滑动时进行再推运动。利用仿人机器人手指进行验证实验，结果表明，该系统能够识别未知物体的刚度，并能适应物体操纵任务中物体重量的突然变化。
This paper presents development of tactile sensing-based control algorithm for humanoid robot finger system with optical three-axis tactile sensor mounted on fingertips. Our aim is to develop an intelligent control system that can recognize stiffness of unknown objects and respond to sudden changes of objectpsilas weight during object manipulation. For this purpose, we developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. We proposed a control algorithm in the finger control system based on tactile and slippage sensations, and analyzed real-time grasp synthesis in object manipulation tasks. The control algorithm was designed to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected in object manipulation tasks. Verification experiments using humanoid robot fingers were conducted whose results revealed that the fingerpsilas system managed to recognize the stiffness of unknown objects and complied with sudden changes of the objectpsilas weight during object manipulation tasks.