Title :
Development of a miniaturized laser Doppler velocimeter for use as a slip sensor for robot hand control
Author :
Morita, N. ; Nogami, H. ; Hayashida, Y. ; Higurashi, E. ; Ito, T. ; Sawada, R.
Author_Institution :
Grad. Sch. of Syst. Life Sci., Kyushu Univ., Fukuoka, Japan
Abstract :
We developed a miniaturized laser Doppler velocimeter (LDV) for use as a slip sensor in the control of a robot hand. This sensor is only 1/10,000th of the volume of commercial LDVs, which enables the sensor to be attached to a robot hand. Our LDV is able to detect objects moving at velocities ranging from 10 μm/s to 20,000 μm/s. The output of this sensor is independent of the type of material measured; aluminum, cardboard, and rough-surfaced black plastic were all tested.
Keywords :
Doppler measurement; angular velocity control; dexterous manipulators; laser velocimeters; object detection; laser Doppler velocimeter; miniaturized LDV; moving object detection; robot hand control; slip sensor; Frequency measurement; Laser beams; Plastics; Robot sensing systems; Velocity measurement;
Conference_Titel :
Micro Electro Mechanical Systems (MEMS), 2015 28th IEEE International Conference on
Conference_Location :
Estoril
DOI :
10.1109/MEMSYS.2015.7051066
