Scanning Control and Estimation of Unknown Surfaces Using a Robotic Finger with a Resonant End-effector

摘要：

We present simultaneous estimation of the shape and the mechanical impedance of unknown surfaces using a robotic finger with a resonant end-effector. To effectively estimate the mechanical impedance of unknown surfaces, the resonant mechanical part is located on the last digit, which has a force sensor on its fingertip. The force sensor, which is used as a surface detector to sense the reaction force from surfaces, has an important scanning control role of unknown surfaces. In this paper, the basic principle of estimating unknown surfaces is introduced for a one-degree-of-freedom finger that is extended to multi degrees of a freedom finger. In addition to estimation, scanning control is also proposed for unknown surfaces. Finally we verify the usefulness of our proposed system by experiments.

作者: Kiyoshi Ioi Hirofumi Maeda Yoshikazu Ohtsubo

作者单位: Department of Mechanical Engineering,School of Science and Engineering,Kinki University,Japan International Rescue System Institute,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1057-1062

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）