Handling capabilities of two robot hands equipped with optical three-axis tactile sensor

This paper present object handling capabilities of two robotic hands equipped with optical three-axis tactile sensor. We present optimization of grasp control in tactile sensor and robot hand control system to precisely control robot hand based on tactile sensing information. To enhance performance of the robot hand, stiffness distinction parameters were applied in the control system. These parameters are used to select velocity ratio of robot hand to control re-push motion and define optimum grasp pressure. In addition, slippage recognition method is also applied so that the robot hand can grasp and handle object located at arbitrary position. The proposed control system and parameters were evaluated in object handling experiments with hard and soft objects, and object located at arbitrary position. Experimental results revealed good performance for the robot hand in handling hard and soft objects, and object located at an arbitrary position.

[1]  Christos E. Constantinou,et al.  Real time robotic tactile sensor system for the determination of the physical properties of biomaterials , 2004 .

[2]  Hirofumi Suzuki,et al.  Tactile Sensing-based Control System for Dexterous Robot Manipulation , 2009 .

[3]  Heinz Wörn,et al.  Development of a flexible tactile sensor system for a humanoid robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[4]  Mark H. Lee,et al.  A Survey of Robot Tactile Sensing Technology , 1989, Int. J. Robotics Res..

[5]  Masahiro Ohka,et al.  Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger , 2006, ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication.

[6]  M. Ohka,et al.  Determination of object stiffness control parameters in robot manipulation using a prototype optical three-axis tactile sensor , 2008, 2008 IEEE Sensors.

[7]  Masahiro Ohka,et al.  Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing , 2008, 2008 IEEE International Conference on Robotics and Automation.

[8]  Hirofumi Suzuki,et al.  A robotic finger equipped with an optical three-axis tactile sensor , 2008, 2008 IEEE International Conference on Robotics and Automation.

[9]  Mark Lee,et al.  Review Article Tactile sensing for mechatronics—a state of the art survey , 1999 .

[10]  Richard M. Crowder,et al.  Optimal object grasp using tactile sensors and fuzzy logic , 1999, Robotica.

[11]  M. Shimojo,et al.  A system for simultaneously measuring grasping posture and pressure distribution , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.