2011 Fiscal Year Final Research Report
A Tactile Sensing for Estimating the Geometrical Shape and the Configuration of a Linked Object
| Project/Area Number |
22760190
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu Sangyo University (2011)
Kyushu University (2010) |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2011
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| Keywords | 知能ロボティックス / 触覚センシング |
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| 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.
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