Development of soft and distributed tactile sensors and the application to a humanoid robot
Development of soft and distributed tactile sensors and the application to a humanoid robot
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DOI：
10.1163/15685530260174548
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发表时间：
2002-01-01
影响因子：
2
通讯作者：
Inoue, H
中科院分区：
文献类型：
--
作者：
Tajima, R;Kagami, S;Inoue, H
本文描述了一种全面的触觉传感器系统，该系统可以覆盖广泛的全身机器人。基于从需求引入的设计准则，我们开发了两种类型的触觉传感器元件。一种是具有多级压力阈值的多值触摸传感器。它能够覆盖机器人表面的大范围。另一种是由柔软的导电凝胶制成的，与其他片式触觉传感器相比，具有柔顺性的优势。利用这两种传感器，我们在H4全身机器人上开发了触觉传感器系统。详细描述了机器人上的传感器系统以及利用触觉信息进行的一些实验。
This paper describes a comprehensive tactile sensor system which can cover wide areas of full-body robots. Based on design criteria which are introduced from requirements, we develop two types of tactile sensor elements. One is a multi-valued touch sensor which has multi-level pressure thresholds. It is capable of covering wide areas of robot surfaces. The other is made of soft, conductive gel, which has the advantage of compliance compared with other sheet-type tactile sensors. With these two types sensors, we develop the tactile sensor system on the full-body robot 'H4'. Details of the sensor system on the robot and some experiments using tactile information are described.