A control system for multi-fingered robotic hand with distributed touch sensor

Author

Sugiuchi, Hajime ; Watanabe, Shinichiro ; Hasegawa, Yuki ; Nornoto, M.

Author_Institution

Dept. of Mech. Eng., Yokohama Nat. Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

434

Abstract

A robotic hand and its control system is developed. This hand has five fingers and 22 DOF. (16 for fingers and 6 for arm). The surface of the hand is covered with a distributed touch sensor that has more than 500 measuring points. This system, can control the positon, orientation, velocity and force of multiple points on the hand simultaneously. The effectiveness of this system is shown by the experiment in which the robotic hand holds a pair of scissors and achieves a paper cutting task. The event driven task execution system is also developed and used for the experiment. This system, watches the event which signals the change of the constrained state of the hand and switches the control points and their behaviors on the hand dynamically according to the detected event

Keywords

dexterous manipulators; distributed sensors; force control; position control; tactile sensors; velocity control; control system; distributed touch sensor; event driven task execution system; force control; multi-fingered robotic hand; orientation control; paper cutting task; position control; scissors; velocity control; Control systems; Event detection; Fingers; Force control; Force sensors; Robot sensing systems; Switches; Tactile sensors; Velocity control; Watches;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973189

Filename

973189