Title :
Comparison of contact sensor localization abilities during manipulation
Author :
Son, Jae S. ; Cutkosky, Mark R. ; Howe, Robert D.
Author_Institution :
Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
Abstract :
This paper presents an experimental comparison of tactile array versus force-torque sensing for localizing contact during manipulation. The manipulation tasks involved rotating and translating objects using a planar two fingered manipulator. A pin and a box were selected as limiting cases of point and line contact against a cylindrical robot finger tip. Force-torque contact sensing results suffered from difficulties in calibration, transient forces, and low grasp force. Tactile array sensing was immune to these problems, and the effect of shear loading was only noticeable for a simple centroid algorithm. The results show that with care, both of these sensing schemes can determine the contact location within a millimeter during real manipulation tasks
Keywords :
force measurement; manipulators; pressure measurement; tactile sensors; torque measurement; calibration; contact sensor localization abilities; cylindrical robot finger tip; force-torque sensing; low grasp force; manipulation; planar two fingered manipulator; shear loading; tactile array; transient forces; Calibration; Fingers; Humans; Immune system; Manipulators; Mechanical engineering; Mechanical sensors; Millimeter wave devices; Robot sensing systems; Sensor arrays;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526145
