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Object exploration and manipulation using a robotic finger equipped with an optical three-axis tactile sensor

Published online by Cambridge University Press:  17 November 2008

Masahiro Ohka ,
Jumpei Takata ,
Hiroaki Kobayashi ,
Hirofumi Suzuki ,
Nobuyuki Morisawa  and
Hanafiah Bin Yussof
Masahiro Ohka*
Affiliation:
Department of Complex Systems Science, Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan
Jumpei Takata
Affiliation:
Olympus Corporation, 2-3-1 Nishi-shinzyuku-ku, Tokyo 163-0914, Japan
Hiroaki Kobayashi
Affiliation:
Toyota Industry Corporation, 2-1 Toyoda-cho, Kariya 448-8671, Japan
Hirofumi Suzuki
Affiliation:
Department of Electronic Mechanical Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan
Nobuyuki Morisawa
Affiliation:
Honda R & D Co. Ltd., 1-4-1 Chuo, Wako-shi, Saitama-ken 351-0193, Japan
Hanafiah Bin Yussof
Affiliation:
Department of Complex Systems Science, Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan Universiti Teknologi MARA, 40450 Shah Alam, Selangor, Malaysia
*
*Corresponding author. E-mail: ohka@is.nagoya-u.ac.jp
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Summary

To evaluate our three-axis tactile sensor developed in preceding papers, a tactile sensor is mounted on a robotic finger with 3-degrees of freedom. We develop a dual computer system that possesses two computers to enhance processing speed: one is for tactile information processing and the other controls the robotic finger; these computers are connected to a local area network. Three kinds of experiments are performed to evaluate the robotic finger's basic abilities required for dexterous hands. First, the robotic hand touches and scans flat specimens to evaluate their surface condition. Second, it detects objects with parallelepiped and cylindrical contours. Finally, it manipulates a parallelepiped object put on a table by sliding it. Since the present robotic hand performed the above three tasks, we conclude that it is applicable to the dexterous hand in subsequent studies.

Keywords

Tactile sensorThree-axisSurface measurementContour measurementObject manipulationRobotic finger
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 763 - 770
Copyright
Copyright © Cambridge University Press 2008

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