Magnetic 3-Axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot

Alexis C. Holgado, Nicola Piga, Tito Pradhono Tomo, Giulia Vezzani, Alexander Schmitz, Lorenzo Natale, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The humanoid robot iCub is currently equipped with an array of capacitive sensors that provide pressure information throughout the body of the robot. Even though for some applications this type of data is sufficient, it is not always the case for the fingertips of the robot. In particular, the current sensors do not provide enough information for performing agile manipulation, where both intensity and direction of the exerted force on the fingertips are relevant for the proper execution of the task. In this paper, we present a single 3-Axis small magnetic sensor module and we show its effectiveness when integrated into the fingertips of the iCub. The sensor module is derived from uSkin, presented in previous works from our laboratory. Replaceable fingertips were designed, built and integrated via software into the low level communication network of the robot, providing fast 3D information about the contact between the fingertips and objects. Additionally, we present two experiments demonstrating tasks that would not be possible to perform with the current fingertip sensors.

Original languageEnglish
Title of host publication2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PublisherIEEE Computer Society
Pages328-335
Number of pages8
ISBN (Electronic)9781538676301
DOIs
Publication statusPublished - 2019 Oct
Event19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
Duration: 2019 Oct 152019 Oct 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2019-October
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
CountryCanada
CityToronto
Period19/10/1519/10/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Holgado, A. C., Piga, N., Tomo, T. P., Vezzani, G., Schmitz, A., Natale, L., & Sugano, S. (2019). Magnetic 3-Axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot. In 2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019 (pp. 328-335). [9035062] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/Humanoids43949.2019.9035062