Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing. Yussof, H., Ohka, M., Takata, J., Nasu, Y., & Yamano, M. In 2008 IEEE International Conference on Robotics and Automation, pages 3443–3448, May, 2008. doi abstract bibtex This paper presents an application of a low force interaction method in a control scheme of robot manipulation based on tactile sensing. Our aim is to develop an intelligent control system that can distinguish the hardness of unknown objects so that robotic fingers can effectively explore the object's surface without altering its physical properties or causing damage. Initially we developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on the fingertips of the multi-fingered humanoid robot arm. We proposed a new control scheme applying low force interaction to distinguish the hardness of unknown objects in robot manipulation tasks based on tactile sensing. The scheme utilized new control parameters obtained by calibration experiments using hard and soft objects that enable robot fingers to precisely control grasp pressure and define the slippage sensation of the given object. Finally, verification experiments of the proposed control scheme using a humanoid robot arm were conducted whose results revealed that the finger's system managed to recognize the hardness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks.
@inproceedings{yussof_low_2008,
title = {Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing},
doi = {10.1109/ROBOT.2008.4543737},
abstract = {This paper presents an application of a low force interaction method in a control scheme of robot manipulation based on tactile sensing. Our aim is to develop an intelligent control system that can distinguish the hardness of unknown objects so that robotic fingers can effectively explore the object's surface without altering its physical properties or causing damage. Initially we developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on the fingertips of the multi-fingered humanoid robot arm. We proposed a new control scheme applying low force interaction to distinguish the hardness of unknown objects in robot manipulation tasks based on tactile sensing. The scheme utilized new control parameters obtained by calibration experiments using hard and soft objects that enable robot fingers to precisely control grasp pressure and define the slippage sensation of the given object. Finally, verification experiments of the proposed control scheme using a humanoid robot arm were conducted whose results revealed that the finger's system managed to recognize the hardness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks.},
booktitle = {2008 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
author = {Yussof, H. and Ohka, Masahiro and Takata, Jumpei and Nasu, Yasuo and Yamano, Mitsuhiro},
month = may,
year = {2008},
keywords = {Fingers, Humanoid robots, Intelligent robots, Optical sensors, Optical waveguides, Pressure control, Robot control, Robot sensing systems, force control, intelligent control, intelligent control system, low force control scheme, manipulators, multifingered humanoid robot arm, object hardness distinction, optical three-axis tactile sensor system, robot manipulation, tactile sensing, tactile sensors},
pages = {3443--3448}
}
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