Title :
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
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;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973189
