Analysis of Tactile Imprints for Multi-Fingered Robot Hands

被引：0

作者：

Gorges, Nicolas ^{[1
]}

Navarro, Stefan Escaida ^{[1
]}

Woern, Heinz ^{[1
]}

机构：

[1] Karlsruhe Inst Technol, Intelligent Proc Control & Robot Lab, Inst Anthropomat & Robot, Karlsruhe, Germany

来源：

2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2014年

关键词：

RECOGNITION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This work analyses tactile imprints as observed on multi-fingered robot hands - in particular on an anthropomorphic robot hand and on an industrial 3-finger gripper. Various alternatives of representing the contact shapes are shown and evaluated in the scope of a recognition task. Another focus is on the question of what kind of contacts actually occurr and how sensor patches are involved according to their placement in the robot hand. The evaluation of the approach considers two different tactile sensors, one representing a larger surface as the palm and one smaller sensor integrated into the fingers of the robot hand.

引用

页码：779 / 784

页数：6

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