Title :
Optimal grasping using visual and tactile feedback
Author :
Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
Abstract :
Sensor feedback and sensor fusion are indispensable for working in the real world. In this paper a robot hand grasping method is proposed. This method uses visual and tactile sensor information. First, grasping evaluation functions are proposed, which are derived from the relationships between a hand and an object. Then a control method is proposed which uses visual and tactile feedback. In this method pre-shaping and grasping are executed smoothly and optimally. Experimental results are presented and a “1 ms sensory-motor system” is introduced as the experimental system for sensor fusion
Keywords :
feedback; image sensors; manipulators; robot vision; sensor fusion; tactile sensors; optimal grasping; pre-shaping; robot hand grasping method; sensor feedback; sensor fusion; sensory-motor system; tactile feedback; visual feedback; Fingers; Force feedback; Grasping; Humans; Robot sensing systems; Robustness; Sensor fusion; Sensor systems; Shape control; Tactile sensors;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572234
