Paper Info
Title
Outer shape classification in rotation manipulation by Universal Robot Hand
Abstract
We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.
Year
DOI
Venue
2009
10.1109/RIISS.2009.4937919
Nashville, TN
Keywords
Field
DocType
dynamic programming,manipulators,tactile sensors,time series,current contact surface,dynamic programming matching scheme,kurtosis,multifingered robot hand,outer shape classification,rotation manipulation,tactile sensors,time-series kurtosis,time-series pressure distribution,universal robot hand
Computer vision,Dynamic programming,Robot hand,Simulation,Pressure measurement,Artificial intelligence,Engineering,Robot,Kurtosis,Tactile sensor
Conference
ISBN
Citations 
PageRank 
978-1-4244-2753-6
0
0.34
References 
Authors
11
4
Name
Order
Citations
PageRank
Hiroyuki Nakamoto15816.86
Fukui, W.210.75
Futoshi Kobayashi33614.80
Fumio Kojima47718.33