Airicist
28th December 2014, 06:45
Website - rm.mce.uec.ac.jp/sjE (http://www.rm.mce.uec.ac.jp/sjE)
youtube.com/ShimojoLab (https://www.youtube.com/ShimojoLab)
Airicist
28th December 2014, 06:45
https://youtu.be/Bi0o-ai6-yM
Autonomous Grasping by robot hand using proximity sensors array
Published on Dec 24, 2014
To achieve reliable grasp with robot hands, vision sensors and tactile sensors are indispensable. However, the correctness of the information from the vision sensors decreases as a robot hand approaches to a grasping object because of occlusion.
In this research, a new proximity sensor is developed, and realized reliable grasp using the information near the object. The sensor has a characteristics of fast response (less than1 ms), simple wiring (only 6 wires),and easy implementation.
Fingertips are equipped with the proximity detector array, which can detect fingertip-object distance and postures simultaneously.
In this video, We demonstrate simultaneous control of postures and distance of the fingertip before grasping.
Through this preparatory motion- pre-grasping-, it is possible to adjust fingertip positioned vertical on the object surface. Therefore, the robot hand can adjust fingertip postures for objects of various shapes automatically