Abstract
As a work of human-symbiotic humanoid robot which can support human activities in daily life environment, we focused on tracking task with free-form surface which appears in giving bed-bath care to human and polishing complicated shaped furniture. In such cases, research issues are how to establish the contact by the whole surface and how to control the pressure exerting at each segment in the hand through the finger-arm coordinated motion. In this paper we proposed pressure control method on the whole surface of the human-mimetic multi-fingered hand with the tactile sensing. Passive compliance control algorithm for the contact at fingers and hybrid control algorithm with palm posture adjustment compose our control method. Our control method can achieve the adjustment to the curvature and local concavities and convexities of human body. By actual experiments using anthropomorphic humanoid robot TWENDY-ONE, we validated the effectiveness of this control method.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 436-438 |
| Number of pages | 3 |
| Publication status | Published - 2010 |
| Event | SICE Annual Conference 2010, SICE 2010 - Taipei Duration: 2010 Aug 18 → 2010 Aug 21 |
Other
| Other | SICE Annual Conference 2010, SICE 2010 |
|---|---|
| City | Taipei |
| Period | 10/8/18 → 10/8/21 |
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Keywords
- Finger-arm coordination
- Human-symbiotic robot
- Multi-fingered hand
- Pressure control
- Welfare service
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. / Sugaiwa, Taisuke; Iwamoto, Kunihhiro; Iwata, Hiroyasu; Sugano, Shigeki.
Proceedings of the SICE Annual Conference. 2010. p. 436-438 5602555.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing
AU - Sugaiwa, Taisuke
AU - Iwamoto, Kunihhiro
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2010
Y1 - 2010
N2 - As a work of human-symbiotic humanoid robot which can support human activities in daily life environment, we focused on tracking task with free-form surface which appears in giving bed-bath care to human and polishing complicated shaped furniture. In such cases, research issues are how to establish the contact by the whole surface and how to control the pressure exerting at each segment in the hand through the finger-arm coordinated motion. In this paper we proposed pressure control method on the whole surface of the human-mimetic multi-fingered hand with the tactile sensing. Passive compliance control algorithm for the contact at fingers and hybrid control algorithm with palm posture adjustment compose our control method. Our control method can achieve the adjustment to the curvature and local concavities and convexities of human body. By actual experiments using anthropomorphic humanoid robot TWENDY-ONE, we validated the effectiveness of this control method.
AB - As a work of human-symbiotic humanoid robot which can support human activities in daily life environment, we focused on tracking task with free-form surface which appears in giving bed-bath care to human and polishing complicated shaped furniture. In such cases, research issues are how to establish the contact by the whole surface and how to control the pressure exerting at each segment in the hand through the finger-arm coordinated motion. In this paper we proposed pressure control method on the whole surface of the human-mimetic multi-fingered hand with the tactile sensing. Passive compliance control algorithm for the contact at fingers and hybrid control algorithm with palm posture adjustment compose our control method. Our control method can achieve the adjustment to the curvature and local concavities and convexities of human body. By actual experiments using anthropomorphic humanoid robot TWENDY-ONE, we validated the effectiveness of this control method.
KW - Finger-arm coordination
KW - Human-symbiotic robot
KW - Multi-fingered hand
KW - Pressure control
KW - Welfare service
UR - http://www.scopus.com/inward/record.url?scp=78649267917&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649267917&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649267917
SN - 9784907764364
SP - 436
EP - 438
BT - Proceedings of the SICE Annual Conference
ER -