Shaping control of plastic object by robot hand with sensor fusion processing

Author

Masuda, Ryosuke ; Sasaki, Michio

Author_Institution

Dept. of Electr. Eng., Tokai Univ., Kanagawa, Japan

fYear

1994

fDate

2-5 Oct 1994

Firstpage

792

Lastpage

797

Abstract

A robot hand must provide the multidegree of freedom mechanism and multisensor processing system to realize the dexterous handling motion. In this paper, a new sensory control method of the robot hand is proposed, for the shaping of a flexible and a plastic objects such as clay to a given shape, by using the sensor fusion processing. In this paper, the two types of hand mechanisms are introduced, they are the palm hand and the pair hand which provide the force and matrix tactile sensors. By the experiments of shaping a lump of clay to a sphere or a cube, the effectiveness of the method is confirmed

Keywords

manipulators; sensor fusion; shape control; tactile sensors; clay; dexterous handling motion; force tactile sensors; matrix tactile sensors; multidegree of freedom mechanism; multisensor processing system; pair hand; palm hand; plastic object; robot hand; sensor fusion processing; shaping control; Force control; Force sensors; Plastics; Robot sensing systems; Sensor fusion; Sensor systems; Service robots; Shape control; Signal processing; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.

Conference_Location

Las Vegas, NV

Print_ISBN

0-7803-2072-7

Type

conf

DOI

10.1109/MFI.1994.398375

Filename

398375