A Tactile Sensing for Estimating the Geometrical Shape and the Configuration of a Linked Object

• Project/Area Number: 22760190
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kyushu Sangyo University (2011); Kyushu University (2010)
• Principal Investigator: MURAKAMI Kouji 九州産業大学, 工学部, 准教授 (80380682)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: 知能ロボティックス / 触覚センシング / 多指ロボットハンド / 触角センシング

Research Abstract

We have proposed a tactile sensing for estimating the location and orientation of a joint-axis of a linked object. This estimation requires sensing of the location of a contact point and the direction of an edge of a linked object as contact information measured by a robotic fingertip. We have developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.

Research Products

• [Journal Article] A Tactile Sensing for Estimating the Position and Orientation of a Joint-Axis of a Linked Object (2010)
  • Author(s): Kazuya Matsuo, Kouji Murakami, Katsuya Niwaki, Tsutomu Hasegawa, Kenji Tahara, and Ryo Kurazume
  • Journal Title: Proc. IEEE/RSJ International Conference Intelligent Robots and Systems Pages: 1884-1889
  • Peer Reviewed
• [Journal Article] A Tactile Sensing for Estimating the Position and Orientation of a Joint-Axis of a Linked Object (2010)
  • Author(s): K.Matsuo, K.Murakami, K.Niwaki, T.Hasegawa, K.Tahara, R.Kurazume
  • Journal Title: Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 1884-1889
  • Peer Reviewed
• [Presentation] Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots (2011)
  • Author(s): Ryo Kurazume, Yumi Iwashita, Koji Murakami, Tsutomu Hasegawa
  • Organizer: 15th International Symposium on Robotics Research
  • Year and Date: 2011-08-30
• [Presentation] Introduction to the Robot Town Project and 3-D CO-operative Geometrical Modeling Using Multiple Robots (2011)
  • Author(s): R.Kurazume, Y.Iwashita, K.Murakami, T.Hasegawa
  • Organizer: 15th International Symposium on Robotics Research
  • Place of Presentation: Flagstaff, AZ.USA
  • Year and Date: 2011-08-30
• [Presentation] A Tactile Sensing for Estimating the Posture of the Joint-Axis of a Linked Object (2010)
  • Author(s): Kazuya Matsuo, Katsuya Niwaki, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara and Ryo Kurazume
  • Organizer: The 6th Joint Workshop on Machine Perception and Robotics
  • Year and Date: 2010-10-09
• [Presentation] 接触情報を用いた物体の関節回転軸位置の推定 (2010)
  • Author(s): 松尾一矢, 庭木勝也, 村上剛司, 長谷川勉
  • Organizer: ロボティクス・メカトロニクス講演会2010講演論文集
  • Year and Date: 2010-06-15
• [Presentation] 接触情報を用いた物体の関節回転軸位置の推定 (2010)
  • Author(s): 松尾一矢, 庭木勝也, 村上剛司, 長谷川勉
  • Organizer: ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 旭川市,北海道
  • Year and Date: 2010-06-15