A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Alexander Schmitz*, Marco Maggiali, Marco Randazzo, Lorenzo Natale, Giorgio Metta

*この研究の対応する著者

研究成果

22 被引用数 (Scopus)

抄録

Tactile feedback is of crucial importance for object manipulation in unknown environments. In this paper we describe the design and realization of a fingertip which includes a capacitive pressure sensor with 12 sensitive zones. It is naturally shaped and its size is small enough so that it can be mounted on the fingers of the humanoid robot iCub. It also embeds the electronic device which performs A/D conversion: This is beneficial for the signal to noise ratio and reduces the number of wires required to connect the fingertip to the robot. The fingertip is made of silicone, which makes its surface and inner structure compliant and flexible. We present preliminary experiments performed with the first prototype.

本文言語English
ホスト出版物のタイトル2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
ページ423-428
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of
継続期間: 2008 12 12008 12 3

出版物シリーズ

名前2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Conference

Conference2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
国/地域Korea, Republic of
CityDaejeon
Period08/12/108/12/3

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用

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