Title :
Analysis of a contact problem for tactile sensors and a computationally effective simulation for grasping
Author :
Sinyukov, Dmitry ; Padir, Taskin ; Torres-Jara, Eduardo
Author_Institution :
Worcester Polytech. Inst., Worcester, MA, USA
Abstract :
In this work we present an analysis of the contact simulation problem for elastic hemi-sphere tactile sensors. We propose a simplified abstraction for sensor model, a method of addressing the sensor saturation problem, and a computationally effective approach to model the contact. Finally we demonstrate simulation results for several scenarios.
Keywords :
tactile sensors; contact problem; elastic hemi-sphere sensor; grasping; sensor saturation problem; tactile sensor;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6491003
