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Provedor de dados:  InTech
País:  N/A
Título:  Vision Based Tactile Sensor Using Transparent Elastic Fingertip for Dexterous Handling
Autores:  Goro Obinata
Ashish Dutta
Norinao Watanabe
Nobuhiko Moriyama
Data:  2007-02-01
Ano:  2007
Palavras-chave:  Mobile Robots: Perception & Navigation
Resumo:  We have explained on a new tactile sensor for measuring multi-dimensional force and moment of contact. The structure of sensor is simple because the method is vision-based. The method to obtain the values of force and moment has been confirmed by several experiments. It is shown that the accurate estimation of contact force and moment is possible with the proposed sensor although there is a trade-off between the resolution and the computational time. There exist small interpositions between the tangential force, the moment and the normal force while measuring. Clear understanding the interposition between applied forces and moments will be required in further research. We defined the stick ratio as an index for indicating the degree of slippage. We have also proposed a new method to estimate the stick ratio for preventing from slippage of manipulated object. The exact relation of the defined stick ratio or the estimated stick ratio to the exact friction coefficient is an important problem to be solved. We demonstrated the control system for keeping the estimated stick ratio around a set point. Moreover, we have given a comparison with a piezoelectric sensor because it may be another candidate to cope with several practical requirements. The purpose-built integrated circuit for the image processing of this vision-based sensor may be required to achieve high speed control against disturbances in high frequency band. It is shown that the proposed sensor has the potential for dexterous handling like human.
Tipo:  7
Idioma:  Inglês
Editor:  INTECH Open Access Publisher
Relação:  ISBN:3-86611-283-1

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