Title :
Direct shape operation of a robotic manipulator using a shape sensor
Author :
Mochiyama, Hiromi
Author_Institution :
Touch Technol. Lab., Nagoya Inst. of Technol., Japan
Abstract :
In this paper, we provide a realistic way to achieve the whole-arm manipulation by the direct shape operation of a robotic manipulator. We use a tape-like shape sensor as a reference shape generation device. Experimental result shows the effectiveness of the direct shape operation of a manipulator.
Keywords :
manipulators; sensors; shape control; direct shape operation; robotic manipulator; shape generation device; shape sensor; whole-arm manipulation; Fingers; Force control; Grasping; Humans; Kinematics; Manipulators; Resists; Robot sensing systems; Shape control; Tactile sensors;
Conference_Titel :
Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on
Print_ISBN :
0-7803-8165-3
DOI :
10.1109/MHS.2003.1249943
