Pre-slip Sensing Using Tactile Sensor
نویسندگان
چکیده
A method to detect pre-slip by controlling the normal force as measured by tactile sensor arrays has been developed. A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive models have been used to develop a set of rules which predict the preslip based on fluctuations in tactile signal data. Copyright 2007.
منابع مشابه
Using a Piezo-Resistive Tactile Sensor for Detection of Incipient Slippage
The detection of incipient slip is an important cornerstone in tactile based grasping. In this paper, we present an approach to detect incipient slip using a fast piezo-resistive, yet static tactile sensor pad. Our approach renders special slip sensors obsolete and therefore enables static and dynamic sensing with one sensing mechanism. For the detection of the slip, a fast fourier transform is...
متن کاملTactile sensing is the detection and measurement of spatial distribution of forces perpendicular to a pre-determined sensory area, and the subsequent interpretation of the spatial information
This paper describes a concept and presents the experimental results for robotic end-effector operation for handling product items that are flexible or variable in physical properties such as size, shape or firmness and also describes a scheme by which a manipulator can use dynamic tactile sensing to detect when it is about to lose hold of a grasped object and take preventive measures before gr...
متن کاملTactile Sensing
Touch Sensing This is the detection and measurement of a contact force at a defined point. A touch sensor can also be restricted to binary information, namely touch, and no touch. Tactile Sensing This is the detection and measurement of the spatial distribution of forces perpendicular to a predetermined sensory area, and the subsequent interpretation of the spatial information. A tactile-sensin...
متن کاملA Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection
Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable o...
متن کاملSlip Detection and Classification for Grip Control using Multiple Sensory Modalities on a Biomimetic Tactile Sensor
Achieving human-level performance in dexterous grasping tasks will likely require richer tactile sensing than is currently available [1]. Recently, biomimetic tactile sensors, designed to provide more humanlike capabilities, have been developed. These new sensors provide an opportunity to significantly improve the robustness of robotic manipulation. In order to take full advantage of the inform...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2007